CN113359698A - Vehicle navigation method, device, computer equipment and storage medium - Google Patents
Vehicle navigation method, device, computer equipment and storage medium Download PDFInfo
- Publication number
- CN113359698A CN113359698A CN202110489800.4A CN202110489800A CN113359698A CN 113359698 A CN113359698 A CN 113359698A CN 202110489800 A CN202110489800 A CN 202110489800A CN 113359698 A CN113359698 A CN 113359698A
- Authority
- CN
- China
- Prior art keywords
- map
- road
- planned path
- position information
- target vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
- 238000000034 method Methods 0.000 title claims abstract description 57
- 238000004590 computer program Methods 0.000 claims description 26
- 238000010586 diagram Methods 0.000 description 13
- 230000003068 static effect Effects 0.000 description 9
- 238000004891 communication Methods 0.000 description 5
- 238000006073 displacement reaction Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/90—Details of database functions independent of the retrieved data types
- G06F16/95—Retrieval from the web
- G06F16/953—Querying, e.g. by the use of web search engines
- G06F16/9537—Spatial or temporal dependent retrieval, e.g. spatiotemporal queries
Landscapes
- Engineering & Computer Science (AREA)
- Databases & Information Systems (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Data Mining & Analysis (AREA)
- General Engineering & Computer Science (AREA)
- Navigation (AREA)
Abstract
The application relates to a vehicle navigation method, a vehicle navigation device, computer equipment and a storage medium, which are applicable to the technical field of automatic driving. The method comprises the following steps: receiving an instruction for starting automatic driving, which is input by a user and is used for indicating a target vehicle to carry out automatic driving; acquiring a first planned path for the target vehicle to travel based on the navigation map, wherein the first planned path comprises at least one first road section; acquiring map content items corresponding to each first road section in the first planned path from a high-precision map according to road section attribute information corresponding to each first road section in the first planned path, wherein the precision of the high-precision map is greater than that of a navigation map; and controlling the target vehicle to automatically drive according to the map content item corresponding to each first road section in the first planned path. By adopting the method, the user requirements can be considered, the vehicle memory is not occupied, the automatic vehicle driving decision execution is not influenced, and the vehicle navigation is more flexible.
Description
Technical Field
The present application relates to the field of automatic driving technologies, and in particular, to a vehicle navigation method, apparatus, computer device, and storage medium.
Background
With the development of automobile technology, smart automobiles become a popular market blue sea, and host plants at home and abroad are gradually introduced into the field of intelligent automobile driving to seize the market. In the field of intelligent driving of automobiles, high-level automatic driving (L3 and so on)Upper) functions may include locating highways, urban expressways, passing toll stations, getting on and off ramps, single-lane intelligent cruise, automatic lane change assistance, intelligent avoidance, safe parking, and the like. The implementation of these high-level autopilot functions places extremely high demands on the positioning of the vehicle itself.EspeciallyUnder severe weather, repeated scenes, non-line-of-sight scenes and unstable conditions of the vehicle-mounted sensor, accurate map information can help the vehicle to be accurately positioned. Therefore, high-precision maps play a decisive role in the field of intelligent driving of automobiles.
In the prior art, in order to ensure a high-level automatic driving function of a vehicle, a navigation map and a high-precision map of the same map manufacturer are generally downloaded to a local vehicle, and then a static matching relation table corresponding to the navigation map and the high-precision map is generated, so that the navigation map and the high-precision map are matched, and the automatic driving of the vehicle is assisted.
According to the method, under the condition that user requirements are not considered, the navigation map and the high-precision map are downloaded to the vehicle local, and the static matching relation table is generated, so that a large amount of vehicle memory is occupied, vehicle automatic driving decision execution is influenced, and the using effect is poor.
Disclosure of Invention
Therefore, it is necessary to provide a vehicle navigation method, device, computer device and storage medium for solving the above technical problems, which can consider user requirements, do not occupy vehicle memory, and do not affect vehicle automatic driving decision execution, so that vehicle navigation is more flexible.
In a first aspect, a vehicle navigation method is provided, the method comprising: receiving an instruction for starting automatic driving, which is input by a user and is used for indicating a target vehicle to carry out automatic driving; acquiring a first planned path for the target vehicle to travel based on the navigation map, wherein the first planned path comprises at least one first road section; acquiring map content items corresponding to each first road section in the first planned path from a high-precision map according to road section attribute information corresponding to each first road section in the first planned path, wherein the precision of the high-precision map is greater than that of a navigation map; and controlling the target vehicle to automatically drive according to the map content item corresponding to each first road section in the first planned path.
In one embodiment, acquiring, in a high-precision map, a map content item corresponding to each first segment in a first planned path according to segment attribute information corresponding to each first segment in the first planned path includes: acquiring second road sections respectively matched with the first road sections in a high-precision map according to the road section attribute information corresponding to the first road sections in the first planned path; and determining the map content item corresponding to each second road segment in the high-precision map.
In one embodiment, the obtaining of the second road segments respectively matched with the first road segments in the high-precision map according to the road segment attribute information corresponding to the first road segments in the first planned path includes: determining the position information of the starting point corresponding to each second road segment in the high-precision map according to the position information of the starting point corresponding to each first road segment in the first planned path; and determining each second road section in the high-precision map according to at least one of road category information, road length information, road morphology and road sign information corresponding to each first road section in the first planned path and starting point position information corresponding to each second road section.
In one embodiment, before receiving the autopilot command input by the user, the method further comprises: and acquiring current position information of the target vehicle, and outputting a request for judging whether to start automatic driving to a user according to the current position information.
In one embodiment, outputting a request to a user whether to initiate autonomous driving based on the current location information includes: judging whether the target vehicle meets the automatic driving condition or not according to the current position information and the preset automatic driving condition; in the case where the target vehicle satisfies the automatic driving condition, a request of whether to start automatic driving is output to the user.
In one embodiment, controlling a target vehicle to automatically drive according to a map content item corresponding to each first segment in a first planned path includes: acquiring current position information of a target vehicle; determining high-precision map position information corresponding to the current position information in a high-precision map according to the current position information; according to the high-precision map position information, obtaining map content items corresponding to the high-precision map position information from the map content items corresponding to the first sections in the first planned path; and controlling the target vehicle to execute corresponding automatic driving operation according to the map content item corresponding to the high-precision map position information.
In one embodiment, before obtaining the first planned path traveled by the target vehicle based on the navigation map, the method further includes: receiving initial position information and end position information input by a user; and inputting the initial position information and the end position information into a navigation map, and generating a first planned path for the target vehicle to travel based on a preset path planning principle.
In a second aspect, there is provided a vehicular navigation apparatus, the apparatus comprising:
the first receiving module is used for receiving an automatic driving starting instruction input by a user, and the automatic driving starting instruction is used for indicating a target vehicle to carry out automatic driving;
the navigation system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring a first planned path for the target vehicle to travel based on a navigation map, and the first planned path comprises at least one first road section;
the second obtaining module is used for obtaining map content items corresponding to all the first road segments in the first planned path from the high-precision map according to the road segment attribute information corresponding to all the first road segments in the first planned path, and the precision of the high-precision map is greater than that of the navigation map;
and the control module is used for controlling the target vehicle to automatically drive according to the map content items corresponding to the first road sections in the first planned path.
In one embodiment, the second obtaining module includes:
the acquisition unit is used for acquiring each second road section respectively matched with each first road section in the high-precision map according to the road section attribute information corresponding to each first road section in the first planned path;
and the determining unit is used for determining the map content item corresponding to each second road segment in the high-precision map.
In one embodiment, the road section attribute information includes at least one of road category information, road length information, road morphology and road sign information, and the obtaining unit is specifically configured to determine, in the high-precision map, start point position information corresponding to each second road section according to start point position information corresponding to each first road section in the first planned path; and determining each second road section in the high-precision map according to at least one of road category information, road length information, road morphology and road sign information corresponding to each first road section in the first planned path and starting point position information corresponding to each second road section.
In one embodiment, the car navigation device further includes:
a third obtaining module for obtaining the current position information of the target vehicle,
and the output module is used for outputting a request for judging whether to start the automatic driving to the user according to the current position information.
In one embodiment, the output module is specifically configured to: judging whether the target vehicle meets the automatic driving condition or not according to the current position information and the preset automatic driving condition; in the case where the target vehicle satisfies the automatic driving condition, a request of whether to start automatic driving is output to the user.
In one embodiment, the control unit is specifically configured to obtain current location information of the target vehicle; determining high-precision map position information corresponding to the current position information in a high-precision map according to the current position information; according to the high-precision map position information, obtaining map content items corresponding to the high-precision map position information from the map content items corresponding to the first sections in the first planned path; and controlling the target vehicle to execute corresponding automatic driving operation according to the map content item corresponding to the high-precision map position information.
In one embodiment, the car navigation device further includes:
the second receiving module is used for receiving the initial position information and the end position information input by the user;
and the generating module is used for inputting the initial position information and the end position information into the navigation map and generating a first planned path for the target vehicle to run based on a preset path planning principle.
In a third aspect, there is provided a computer device comprising a memory storing a computer program and a processor implementing the vehicle navigation method as described in any one of the first aspects above when the processor executes the computer program.
In a fourth aspect, there is provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a vehicle navigation method as in any one of the first aspects above.
According to the vehicle navigation method, the vehicle navigation device, the computer equipment and the storage medium, after the instruction for starting automatic driving input by the user is received, the first planned path for the target vehicle to run is obtained based on the navigation map. And the computer equipment acquires the map content items corresponding to the first road segments in the first planned path from the high-precision map according to the road segment attribute information corresponding to the first road segments in the first planned path, and then controls the target vehicle to automatically drive according to the map content items corresponding to the first road segments in the first planned path. According to the method, after an instruction for starting automatic driving, which is input by a user, is received, and the situation that the user needs to start automatic driving is determined, a first planned path for the target vehicle to travel is obtained based on a navigation map, and according to the road section attribute information corresponding to each first road section in the first planned path, the map content item corresponding to each first road section in the first planned path is obtained in a high-precision map. Therefore, the static matching relation table corresponding to the navigation map and the high-precision map is directly generated according to the requirements of the considered user, but not under the condition that whether the user needs to start the automatic driving is not determined. In addition, in the embodiment of the application, the computer device acquires the map content item corresponding to each first segment in the first planned path from the high-precision map according to the segment attribute information corresponding to each first segment in the first planned path. And the static matching relation table corresponding to the navigation map and the high-precision map does not need to be calculated, so that the calculation process can be omitted, and the memory of the target vehicle occupied by the static matching relation table is reduced. Therefore, the user requirements are considered, the vehicle memory is not occupied, the automatic vehicle driving decision execution is not influenced, and the vehicle navigation is more flexible.
Drawings
FIG. 1 is a diagram of an exemplary vehicle navigation system;
FIG. 2 is a schematic flow chart diagram of a vehicle navigation method in one embodiment;
FIG. 3 is a schematic flow chart of steps for navigating a vehicle in one embodiment;
FIG. 4 is a schematic flow chart diagram of a vehicle navigation method in another embodiment;
FIG. 5 is a schematic flow chart diagram of a vehicle navigation method in another embodiment;
FIG. 6 is a schematic flow chart diagram of a vehicle navigation method in another embodiment;
FIG. 7 is a schematic flow chart diagram of a vehicle navigation method in another embodiment;
FIG. 8 is a schematic flow chart diagram of a vehicle navigation method in another embodiment;
FIG. 9 is a schematic flow chart diagram of a vehicle navigation method in another embodiment;
FIG. 10 is a block diagram showing the construction of a vehicular navigation apparatus according to one embodiment;
FIG. 11 is a block diagram showing the construction of a vehicular navigation apparatus in one embodiment;
fig. 12 is a block diagram showing the structure of a vehicular navigation apparatus in one embodiment;
fig. 13 is a block diagram showing the structure of a car navigation device according to one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The vehicle navigation method can be applied to computer equipment in an intelligent driving vehicle. The computer device may be a terminal, the internal structure of which may be as shown in fig. 1. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a vehicle navigation method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 1 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment of the present application, as shown in fig. 2, a vehicle navigation method is provided, which is described by taking the method as an example applied to the computer device in fig. 1, and includes the following steps:
in step 201, a computer device receives an instruction for starting automatic driving, which is input by a user.
The instruction to start autonomous driving is used to instruct the target vehicle to perform autonomous driving.
Alternatively, the computer device may output a request to the user whether to start the automated driving when it is detected that the current driving condition is compliant with the automated driving. The mode of outputting the request whether to start the automatic driving by the computer device may be outputting text information of whether to start the automatic driving to the user through the display component, or outputting voice of whether to start the automatic driving to the user through the sound component.
The user may input an instruction to turn on the automatic driving to the computer device through the input component after receiving a request whether to turn on the automatic driving output by the computer device. Optionally, the user may input an instruction to start the automatic driving to the computer device through the touch screen display, or may input an instruction to start the automatic driving to the computer device in a voice manner. The embodiment of the present application does not specifically limit the manner in which the user inputs the instruction to start the automatic driving to the computer device.
In step 202, the computer device obtains a first planned path for the target vehicle to travel based on the navigation map.
Wherein the first planned path comprises at least one first road segment.
Specifically, after the computer device receives an instruction to start automatic driving input by a user, the computer device may acquire a first planned path on which the target vehicle is currently traveling in the navigation map.
The first planned path may be generated in the navigation map by the computer device according to the start point position information and the end point position information input by the user.
Optionally, the computer device may send the start point position information and the end point position information input by the user and the path planning requirement to a server corresponding to the navigation map, and the server corresponding to the navigation map generates the first planned path according to the start point position information and the end point position information sent by the computer device and the path planning requirement, and sends the first planned path to the computer device.
Optionally, the computer device may also download a navigation map in a preset range to the computer device, and then generate the first planned path according to the start point position information and the end point position information input by the user and the path planning requirement. The method for acquiring the first planned path by the computer device is not particularly limited in the embodiment of the present application.
Wherein the precision of the high-precision map is greater than that of the navigation map.
Specifically, after the computer device acquires the first planned path in the navigation map, first determining each first segment included in the first planned path, then finding the position information corresponding to each first segment in the high-precision map according to the segment attribute information corresponding to each first segment included in the first planned path, and determining the map content item corresponding to each first segment in the first planned path in the high-precision map according to the position information corresponding to each first segment. The map content item comprises link attribute information of each first link in the high-precision map.
For example, assume that the first planned path obtained by the computer device in the navigation map is from point a to point B, where point C and point D are passed. Then, each first segment included in the first planned path is from point a to point C, from point C to point D, and from point D to point B. The computer device determines the position information corresponding to each first path segment in the first planned path in the precision map according to the attribute information corresponding to each first path segment from the point A to the point C, from the point C to the point D, and from the point D to the point B, and determines the map content items corresponding to each first path segment from the point A to the point C, from the point C to the point D, and from the point D to the point B in the first planned path in the high-precision map according to the position information corresponding to each first path segment from the point A to the point C, from the point C to the point D, and from the point D to the point B.
Optionally, the computer device may send the link attribute information corresponding to each first link included in the first planned path to the server corresponding to the high-precision map, and the server corresponding to the high-precision map may determine, in the high-precision map, the map content item corresponding to each first link in the first planned path according to the link attribute information corresponding to each first link included in the first planned path sent by the computer device.
Optionally, the computer device may further download a high-precision map in a preset range to a local of the computer device, then find, according to the link attribute information corresponding to each first link included in the first planned path, the position information corresponding to each first link in the high-precision map, and determine, according to the position in-information corresponding to each first link, a map content item corresponding to each first link in the first planned path in the high-precision map.
In the embodiment of the present application, a specific manner in which the computer device obtains the map content item corresponding to each first route segment in the first planned route in the high-precision map is not specifically limited.
And 204, controlling the target vehicle to automatically drive by the computer equipment according to the map content items corresponding to the first sections in the first planned path.
Specifically, since the map content items displayed by the high-precision map are more detailed, the computer device may control the target vehicle to automatically drive according to the map content items corresponding to each first segment in the first planned path.
For example, the computer device may determine, from the map content item corresponding to each first segment in the high-precision map, that a ramp is 500m ahead of the target vehicle, and need to control the vehicle to change lanes to the right and drive into the ramp.
In the vehicle navigation method, after receiving an instruction for starting automatic driving input by a user, the computer equipment acquires a first planned path for the target vehicle to travel based on the navigation map. And the computer equipment acquires the map content items corresponding to the first road segments in the first planned path from the high-precision map according to the road segment attribute information corresponding to the first road segments in the first planned path, and then controls the target vehicle to automatically drive according to the map content items corresponding to the first road segments in the first planned path. According to the method, after an instruction for starting automatic driving, which is input by a user, is received, and the situation that the user needs to start automatic driving is determined, a first planned path for the target vehicle to travel is obtained based on a navigation map, and according to the road section attribute information corresponding to each first road section in the first planned path, the map content item corresponding to each first road section in the first planned path is obtained in a high-precision map. Therefore, the static matching relation table corresponding to the navigation map and the high-precision map is directly generated according to the requirements of the considered user, but not under the condition that whether the user needs to start the automatic driving is not determined. In addition, in the embodiment of the application, the computer device acquires the map content item corresponding to each first segment in the first planned path from the high-precision map according to the segment attribute information corresponding to each first segment in the first planned path. And the static matching relation table corresponding to the navigation map and the high-precision map does not need to be calculated, so that the calculation process can be omitted, and the memory of the target vehicle occupied by the static matching relation table is reduced. Therefore, the user requirements are considered, the vehicle memory is not occupied, the automatic vehicle driving decision execution is not influenced, and the vehicle navigation is more flexible.
In an embodiment of the present application, as shown in fig. 3, the step 203 of acquiring, from the high-precision map, the map content item corresponding to each first segment in the first planned path according to the link attribute information corresponding to each first segment in the first planned path may include the following steps:
Specifically, after the computer device determines that the first planned path includes each first road segment and determines the road segment attribute information corresponding to each first road segment, the computer device may search, according to the road segment attribute information corresponding to each first road segment, each second road segment matching the road segment attribute information corresponding to each first road segment in the high-precision map.
For example, assume that the first planned path obtained by the computer device in the navigation map is from point a to point B, where point C and point D are passed. Then, each first segment included in the first planned path is from point a to point C, from point C to point D, and from point D to point B. The computer device determines the road section attribute information corresponding to each first road section from the point A to the point C, from the point C to the point D and from the point D to the point B, and then searches for each second road section respectively matched with the point A to the point C, from the point C to the point D and from the point D to the point B in the high-precision map according to the road section attribute information corresponding to each first road section from the point D to the point B and from the point A to the point C and from the point C to the point D.
In step 302, the computer device determines a map content item corresponding to each second road segment in the high-precision map.
Specifically, after the computer device finds each second road segment in the high-precision map, the computer device may determine, according to the position information of each second road segment in the high-precision map, a map content item corresponding to each second road segment.
In the embodiment of the application, the computer device acquires, according to the link attribute information corresponding to each first link in the first planned path, each second link respectively matched with each first link in the high-precision map, and determines, in the high-precision map, a map content item corresponding to each second link. Therefore, the accuracy of each second road section acquired in the high-precision map can be ensured, and the accuracy of the map content item corresponding to each second road section is ensured. The safety of automatic driving of the target vehicle is further ensured.
In an embodiment of the present application, the link attribute information includes at least one of road category information, road length information, road morphology and road sign information, and as shown in fig. 4, the step 301 of "acquiring, in the high-precision map, second links respectively matching first links according to link attribute information corresponding to the first links in the first planned path" may include the following steps:
Specifically, after determining that the first planned path includes each first segment, the computer device may first determine start point position information corresponding to each first segment. And then determining the starting point position information corresponding to each second road segment in the high-precision map according to the starting point position information corresponding to each first road segment.
For example, assume that the first planned path obtained by the computer device in the navigation map is from point a to point B, where point C and point D are passed. Then, each first segment included in the first planned path is from point a to point C, from point C to point D, and from point D to point B. The computer equipment determines the position information of the starting point from the point A to the point C as the position information of the point A and the position information of the point C, and can search the point A and the point C in high precision according to the position information of the point A and the position information of the point C and determine the point A and the point C as the position information of the starting point corresponding to the second road section. According to the method, the computer equipment sequentially searches the point A, the point C, the point D and the point B, and accordingly the position information of the starting point corresponding to each second road segment is determined.
Specifically, after determining the start point position information corresponding to each second road segment, the computer device may determine a plurality of paths in the high-precision second map according to the start point position information corresponding to each second road segment. Therefore, the computer device needs to determine, in the high-precision map, each second path matching each first path according to at least one of road category information, road length information, road morphology, and road sign information corresponding to each first path in the first planned path.
The road category information includes expressways, urban expressways, national roads, provincial roads, county roads, village and town roads, other roads, and the like. Exemplarily, level — 0 denotes an expressway; level 1, which represents an urban expressway; level 2, which represents national road; level-3, indicating province; level 4, which represents county road; level 17, representing a village and town road; the level 18 indicates other roads and the like.
The road forms can include roundabouts, upper and lower line separation roads, ramps, roads in intersections, entrances and exits, parking areas, rest areas, turning lanes, left-turn lanes, right-turn ahead lanes, tunnels, bridges, high-speed or urban high-speed and common road (non-high-speed and urban high-speed) connection roads, high-speed connection ramps, totally-enclosed roads, bus-only roads, elevated roads, overpasses and other road forms and the like. Exemplarily, use ═ 0, denotes a ring island; use 2, which represents the upper and lower line separation road; use is 3, which represents the ramp; the use is 4, which represents the road in the road junction; a use 5, which indicates the entrance; use 6, representing a parking area; use 7, representing a rest area; the use is 12, which indicates that the lane turns around; use 13, representing a left turn lane; use 14, indicating an advance right-turn lane; use 15, representing a tunnel; use 17, representing a bridge; use 18, representing IC, a connection road of high speed or urban high speed with ordinary roads (non-high speed and urban high); use 19, representing JCT, high speed connection ramp; use 20, which represents a totally enclosed road; the use is 21, which represents a bus-only road; use 22, representing an elevated road; use 23, representing a overpass; use 24, representing a crossroad tunnel; the use 25 indicates other road forms and the like.
In the embodiment of the application, the computer device determines the starting point position information corresponding to each second road segment in the high-precision map according to the starting point position information corresponding to each first road segment in the first planned path. Then, the computer device determines each second road section in the high-precision map according to at least one of road category information, road length information, road morphology and road sign information corresponding to each first road section in the first planned path and start point position information corresponding to each second road section. Therefore, the accuracy of each second road section acquired in the high-precision map can be ensured, and the accuracy of the map content item corresponding to each second road section is ensured. The safety of automatic driving of the target vehicle is further ensured.
In an embodiment of the present application, as shown in fig. 5, before the step 201 "receiving an automatic driving instruction input by a user", the vehicle navigation method may further include the steps of:
in step 501, a computer device obtains current location information of a target vehicle.
Specifically, the computer device may acquire the current position information of the target vehicle through an inertial navigation system or other sensor devices.
Specifically, the computer device may determine whether the current location information matches a high-precision map based on the current location information. In the case where the current position information matches the high-precision map, the computer device outputs a request to the user whether to start the automatic driving.
Optionally, the computer device may output text information of "whether to start automatic driving" to the user through the display component, and may also output voice of "whether to start automatic driving" to the user through the sound component.
In the embodiment of the application, the computer device acquires the current position information of the target vehicle and outputs a request for whether to start automatic driving to a user according to the current position information. According to the method, the computer device fully considers the user requirements, and outputs the request whether to start the automatic driving to the user according to the current position information, so that the automatic driving can be prompted when the user is used for the current road condition, and the condition that the user starts the automatic driving function of the target vehicle on the road condition which cannot be automatically driven, so that an accident occurs is avoided. Therefore, the method provides convenience for users.
In an embodiment of the present application, as shown in fig. 6, the step 502 "outputting a request to a user whether to start automatic driving according to current location information" may include the following steps:
Specifically, after acquiring the current position information of the target vehicle, the computer device needs to determine whether the target vehicle meets the automatic driving condition according to the current position information and the preset automatic driving condition.
The preset driving condition may include a current road congestion condition, a current road maintenance condition, a condition of the target vehicle itself, and the like.
Specifically, in the case where the computer determines that the current position information matches a high-precision map, and the current road condition and the own condition of the target vehicle satisfy the preset automatic driving conditions, the computer device determines that the target vehicle satisfies the automatic driving conditions.
In step 602, the computer device outputs a request to a user whether to start autonomous driving in a case where the target vehicle satisfies the autonomous driving condition.
Specifically, in a case where the target vehicle satisfies the automatic driving condition, the computer apparatus outputs a request to the user whether to start automatic driving.
Optionally, the computer device may output text information of "whether to start automatic driving" to the user through the display component, and may also output voice of "whether to start automatic driving" to the user through the sound component.
In the embodiment of the application, the computer device judges whether the target vehicle meets the automatic driving condition according to the current position information and the preset automatic driving condition, and outputs a request for starting automatic driving to a user under the condition that the target vehicle meets the automatic driving condition. Thereby fully guaranteeing the safety of automatic driving of the target vehicle.
In an embodiment of the application, as shown in fig. 7, the step 203 "controlling the target vehicle to automatically drive according to the map content item corresponding to each first segment in the first planned path" may include the following steps:
in step 701, a computer device obtains current location information of a target vehicle.
Specifically, the computer device may acquire the current position information of the target vehicle through an inertial navigation system or other sensor devices.
Specifically, after the computer device obtains the current position information of the target vehicle, the computer device searches the high-precision map position information corresponding to the current position information in the high-precision map according to the longitude and latitude information included in the current position information of the target vehicle.
Illustratively, the computer device determines that the current position information of the target vehicle is 117.8 degrees of east longitude and 40.1 degrees of north latitude, and the computer device searches the high-precision map position information corresponding to the current position information in the high-precision map according to the longitude and latitude information corresponding to the current position.
In step 703, the computer device obtains, according to the high-precision map location information, a map content item corresponding to the high-precision map location information from the map content items corresponding to the first segments in the first planned path.
Specifically, after determining the high-precision map location information corresponding to the current location information, the computer device finds the map content item corresponding to the high-precision map location information from the map content items corresponding to the first segments in the first planned path. The map content item may include attribute information of a current road, landmark information of the current road, and road conditions within a preset range of a current position.
And step 704, controlling the target vehicle to execute corresponding automatic driving operation by the computer device according to the map content item corresponding to the high-precision map position information.
Specifically, the computer device may input a map content item corresponding to the acquired high-precision map location information into a preset autopilot control decision model, the autopilot control decision model outputs parameters such as a course angle, a vehicle speed, a lateral displacement and a longitudinal displacement corresponding to the target vehicle, and the computer device controls the target vehicle to perform operations such as going straight, steering, accelerating, decelerating and the like according to the parameters such as the course angle, the vehicle speed, the lateral displacement and the longitudinal displacement corresponding to the target vehicle output by the autopilot control decision model, so as to control the target vehicle to perform autopilot.
In the embodiment of the application, the computer equipment acquires the current position information of the target vehicle and determines the high-precision map position information corresponding to the current position information in the high-precision map according to the current position information. Then, the computer device obtains the map content item corresponding to the high-precision map position information from the map content items corresponding to the first road segments in the first planned path according to the high-precision map position information, and controls the target vehicle to execute corresponding automatic driving operation according to the map content item corresponding to the high-precision map position information. In the method, because the map content items in the high-precision map are more detailed, the computer device controls the target vehicle to execute corresponding automatic driving operation according to the map content items corresponding to the high-precision map position information, and the safety of automatic driving of the target vehicle can be ensured.
In an embodiment of the present application, as shown in fig. 8, before the step 202 "obtaining the first planned path traveled by the target vehicle based on the navigation map", the vehicle navigation method may further include the steps of:
in step 801, a computer device receives start location information and end location information input by a user.
In particular, a user may input start location information and end location information to a computer device through an input component. Optionally, the user may input the start position information and the end position information to the computer device through the touch screen display, or may input the start position information and the end position information to the computer device in a voice manner. The embodiment of the present application does not specifically limit the manner in which the user inputs the start position information and the end position information to the computer device.
Specifically, after receiving the start position information and the end position information input by the user, the computer device inputs the start position information and the end position information to the navigation map, and can generate a first planned path for the target vehicle to travel according to a preset path planning principle.
The preset path planning principle may include road width, traffic light quantity index, road congestion condition, and the like.
In the embodiment of the application, the computer equipment receives the starting position information and the ending position information input by a user, inputs the starting position information and the ending position information into the navigation map, and generates a first planned path for the target vehicle to travel based on a preset path planning principle. Thereby it can be ensured that the first planned path is most suitable for the target vehicle to travel.
Referring to fig. 9, in order to better describe the vehicle navigation method provided in the embodiment of the present application, as shown in fig. 9, a flowchart of an optional vehicle navigation method provided in the embodiment of the present application is shown, which specifically includes the following steps:
in step 901, a computer device receives start position information and end position information input by a user.
In step 903, the computer device obtains current location information of the target vehicle.
In step 904, the computer device determines whether the target vehicle meets the automatic driving condition according to the current position information and the preset automatic driving condition.
In step 905, the computer device outputs a request to a user whether to start the autonomous driving in a case where the target vehicle satisfies the autonomous driving condition.
At step 906, the computer device receives a user-entered instruction to initiate autopilot.
In step 907, the computer device obtains a first planned path for the target vehicle to travel based on the navigation map.
In step 909, the computer device determines each second road segment in the high-precision map according to at least one of the road category information, the road length information, the road morphology, and the road sign information corresponding to each first road segment in the first planned path and the start point position information corresponding to each second road segment.
At step 910, the computer device determines a map content item corresponding to each second road segment in the high-precision map.
And step 914, the computer device controls the target vehicle to execute corresponding operation of automatic driving according to the map content item corresponding to the high-precision map position information.
It should be understood that although the various steps in the flow charts of fig. 2-9 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2-9 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed in turn or alternately with other steps or at least some of the other steps.
In one embodiment of the present application, as shown in fig. 10, there is provided a vehicular navigation apparatus 1000, the vehicular navigation apparatus 1000 including: a first receiving module 1010, a first obtaining module 1020, a second obtaining module 1030, and a control module 1040, wherein:
the first receiving module 1010 is configured to receive an instruction for starting automatic driving, which is input by a user and used for instructing a target vehicle to perform automatic driving;
a first obtaining module 1020, configured to obtain a first planned path traveled by the target vehicle based on the navigation map, where the first planned path includes at least one first road segment;
a second obtaining module 1030, configured to obtain, in the high-precision map, a map content item corresponding to each first segment in the first planned path according to the segment attribute information corresponding to each first segment in the first planned path, where precision of the high-precision map is greater than that of the navigation map;
the control module 1040 is configured to control the target vehicle to automatically drive according to the map content item corresponding to each first segment in the first planned path.
In an embodiment of the present application, as shown in fig. 11, the second obtaining module 1020 includes: an acquisition unit 1021 and a determination unit 1022, wherein:
an obtaining unit 1021, configured to obtain, according to the link attribute information corresponding to each first link in the first planned path, each second link respectively matching each first link in the high-precision map;
a determining unit 1022, configured to determine, in the high-precision map, a map content item corresponding to each second road segment.
In an embodiment of the present application, the link attribute information includes at least one of road category information, road length information, road morphology, and road sign information, and the obtaining unit 1021 is specifically configured to determine, according to start point position information corresponding to each first link in the first planned path, start point position information corresponding to each second link in the high-precision map; and determining each second road section in the high-precision map according to at least one of road category information, road length information, road morphology and road sign information corresponding to each first road section in the first planned path and starting point position information corresponding to each second road section.
In an embodiment of the present application, as shown in fig. 12, the vehicle navigation apparatus 1000 further includes: a third obtaining module 1050 and an output module 1060, wherein:
a third obtaining module 1050 for obtaining the current location information of the target vehicle,
and an output module 1060, configured to output, to the user, a request whether to start the automatic driving according to the current location information.
In an embodiment of the present application, the output module 1060 is specifically configured to: judging whether the target vehicle meets the automatic driving condition or not according to the current position information and the preset automatic driving condition; in the case where the target vehicle satisfies the automatic driving condition, a request of whether to start automatic driving is output to the user.
In an embodiment of the application, the control unit is specifically configured to obtain current location information of the target vehicle; determining high-precision map position information corresponding to the current position information in a high-precision map according to the current position information; according to the high-precision map position information, obtaining map content items corresponding to the high-precision map position information from the map content items corresponding to the first sections in the first planned path; and controlling the target vehicle to execute corresponding automatic driving operation according to the map content item corresponding to the high-precision map position information.
In one embodiment, as shown in fig. 13, the car navigation device 1000 further includes: a second receiving module 1070 and a generating module 1080, wherein:
a second receiving module 1070, configured to receive start location information and end location information input by a user;
and a generating module 1080, configured to input the starting position information and the ending position information to the navigation map, and generate a first planned path along which the target vehicle travels based on a preset path planning principle.
For specific limitations of the vehicle navigation device, reference may be made to the above limitations of the vehicle navigation method, which are not described herein again. The respective modules in the above vehicle navigation apparatus may be wholly or partially implemented by software, hardware, and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program: receiving an instruction for starting automatic driving, which is input by a user and is used for indicating a target vehicle to carry out automatic driving; acquiring a first planned path for the target vehicle to travel based on the navigation map, wherein the first planned path comprises at least one first road section; acquiring map content items corresponding to each first road section in the first planned path from a high-precision map according to road section attribute information corresponding to each first road section in the first planned path, wherein the precision of the high-precision map is greater than that of a navigation map; and controlling the target vehicle to automatically drive according to the map content item corresponding to each first road section in the first planned path.
In one embodiment of the application, the processor when executing the computer program further performs the following steps: acquiring second road sections respectively matched with the first road sections in a high-precision map according to the road section attribute information corresponding to the first road sections in the first planned path; and determining the map content item corresponding to each second road segment in the high-precision map.
In one embodiment of the application, the processor when executing the computer program further performs the following steps: determining the position information of the starting point corresponding to each second road segment in the high-precision map according to the position information of the starting point corresponding to each first road segment in the first planned path; and determining each second road section in the high-precision map according to at least one of road category information, road length information, road morphology and road sign information corresponding to each first road section in the first planned path and starting point position information corresponding to each second road section.
In one embodiment of the application, the processor when executing the computer program further performs the following steps: and acquiring current position information of the target vehicle, and outputting a request for judging whether to start automatic driving to a user according to the current position information.
In one embodiment of the application, the processor when executing the computer program further performs the following steps: judging whether the target vehicle meets the automatic driving condition or not according to the current position information and the preset automatic driving condition; in the case where the target vehicle satisfies the automatic driving condition, a request of whether to start automatic driving is output to the user.
In one embodiment of the application, the processor when executing the computer program further performs the following steps: acquiring current position information of a target vehicle; determining high-precision map position information corresponding to the current position information in a high-precision map according to the current position information; according to the high-precision map position information, obtaining map content items corresponding to the high-precision map position information from the map content items corresponding to the first sections in the first planned path; and controlling the target vehicle to execute corresponding automatic driving operation according to the map content item corresponding to the high-precision map position information.
In one embodiment of the application, the processor when executing the computer program further performs the following steps: receiving initial position information and end position information input by a user; and inputting the initial position information and the end position information into a navigation map, and generating a first planned path for the target vehicle to travel based on a preset path planning principle.
In one embodiment of the present application, there is provided a computer readable storage medium having a computer program stored thereon, the computer program when executed by a processor implementing the steps of: receiving an instruction for starting automatic driving, which is input by a user and is used for indicating a target vehicle to carry out automatic driving; acquiring a first planned path for the target vehicle to travel based on the navigation map, wherein the first planned path comprises at least one first road section; acquiring map content items corresponding to each first road section in the first planned path from a high-precision map according to road section attribute information corresponding to each first road section in the first planned path, wherein the precision of the high-precision map is greater than that of a navigation map; and controlling the target vehicle to automatically drive according to the map content item corresponding to each first road section in the first planned path.
In one embodiment of the application, the computer program when executed by the processor further performs the steps of: acquiring second road sections respectively matched with the first road sections in a high-precision map according to the road section attribute information corresponding to the first road sections in the first planned path; and determining the map content item corresponding to each second road segment in the high-precision map.
In one embodiment of the application, the computer program when executed by the processor further performs the steps of: determining the position information of the starting point corresponding to each second road segment in the high-precision map according to the position information of the starting point corresponding to each first road segment in the first planned path; and determining each second road section in the high-precision map according to at least one of road category information, road length information, road morphology and road sign information corresponding to each first road section in the first planned path and starting point position information corresponding to each second road section.
In one embodiment of the application, the computer program when executed by the processor further performs the steps of: and acquiring current position information of the target vehicle, and outputting a request for judging whether to start automatic driving to a user according to the current position information.
In one embodiment of the application, the computer program when executed by the processor further performs the steps of: judging whether the target vehicle meets the automatic driving condition or not according to the current position information and the preset automatic driving condition; in the case where the target vehicle satisfies the automatic driving condition, a request of whether to start automatic driving is output to the user.
In one embodiment of the application, the computer program when executed by the processor further performs the steps of: acquiring current position information of a target vehicle; determining high-precision map position information corresponding to the current position information in a high-precision map according to the current position information; according to the high-precision map position information, obtaining map content items corresponding to the high-precision map position information from the map content items corresponding to the first sections in the first planned path; and controlling the target vehicle to execute corresponding automatic driving operation according to the map content item corresponding to the high-precision map position information.
In one embodiment of the application, the computer program when executed by the processor further performs the steps of: receiving initial position information and end position information input by a user; and inputting the initial position information and the end position information into a navigation map, and generating a first planned path for the target vehicle to travel based on a preset path planning principle.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A method for navigating a vehicle, the method comprising:
receiving an instruction for starting automatic driving, which is input by a user and is used for indicating a target vehicle to carry out automatic driving;
acquiring a first planned path driven by the target vehicle based on a navigation map, wherein the first planned path comprises at least one first road section;
obtaining map content items corresponding to each first road section in the first planned path from a high-precision map according to road section attribute information corresponding to each first road section in the first planned path, wherein the precision of the high-precision map is greater than that of the navigation map;
and controlling the target vehicle to automatically drive according to the map content item corresponding to each first road section in the first planned path.
2. The method according to claim 1, wherein the obtaining, in a high-precision map, map content items corresponding to the first road segments in the first planned path according to the road segment attribute information corresponding to the first road segments in the first planned path includes:
acquiring second road sections respectively matched with the first road sections in the high-precision map according to the road section attribute information corresponding to the first road sections in the first planned path;
and determining the map content item corresponding to each second road segment in the high-precision map.
3. The method according to claim 2, wherein the link attribute information includes at least one of road category information, road length information, road morphology and road sign information, and the obtaining, in the high-precision map, each second link respectively matching each first link according to the link attribute information corresponding to each first link in the first planned path includes:
determining the starting point position information corresponding to each second road segment in the high-precision map according to the starting point position information corresponding to each first road segment in the first planned path;
and determining each second road section in the high-precision map according to at least one of road category information, road length information, road morphology and road sign information corresponding to each first road section in the first planned path and starting point position information corresponding to each second road section.
4. The method of claim 1, wherein prior to receiving the user-input autopilot command, the method further comprises:
acquiring current position information of the target vehicle;
and outputting a request for judging whether to start automatic driving to the user according to the current position information.
5. The method of claim 4, wherein outputting to the user a request whether to initiate autonomous driving based on the current location information comprises:
judging whether the target vehicle meets an automatic driving condition or not according to the current position information and a preset automatic driving condition;
outputting a request to the user whether to start autonomous driving, in a case where the target vehicle satisfies an autonomous driving condition.
6. The method of claim 1, wherein controlling the target vehicle to autonomously drive according to the map content item corresponding to each first segment in the first planned path comprises:
acquiring current position information of the target vehicle;
according to the current position information, determining high-precision map position information corresponding to the current position information in the high-precision map;
according to the high-precision map position information, obtaining map content items corresponding to the high-precision map position information from the map content items corresponding to the first sections in the first planned path;
and controlling the target vehicle to execute corresponding operation of automatic driving according to the map content item corresponding to the high-precision map position information.
7. The method of claim 1, wherein prior to the obtaining the first planned path for the target vehicle based on the navigation map, the method further comprises:
receiving starting position information and ending position information input by the user;
and inputting the initial position information and the end position information into the navigation map, and generating a first planned path for the target vehicle to run based on a preset path planning principle.
8. A vehicular navigation apparatus, characterized in that the apparatus comprises:
the automatic driving starting module is used for receiving an automatic driving starting instruction input by a user, and the automatic driving starting instruction is used for indicating a target vehicle to carry out automatic driving;
the first obtaining module is used for obtaining a first planned path driven by the target vehicle based on a navigation map, and the first planned path comprises at least one first road section;
a second obtaining module, configured to obtain, in a high-precision map, a map content item corresponding to each first segment in the first planned path according to segment attribute information corresponding to each first segment in the first planned path, where precision of the high-precision map is greater than that of the navigation map;
and the control module is used for controlling the target vehicle to automatically drive according to the map content items corresponding to the first sections in the first planned path.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110489800.4A CN113359698A (en) | 2021-05-06 | 2021-05-06 | Vehicle navigation method, device, computer equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110489800.4A CN113359698A (en) | 2021-05-06 | 2021-05-06 | Vehicle navigation method, device, computer equipment and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113359698A true CN113359698A (en) | 2021-09-07 |
Family
ID=77525803
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110489800.4A Withdrawn CN113359698A (en) | 2021-05-06 | 2021-05-06 | Vehicle navigation method, device, computer equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113359698A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113804204A (en) * | 2021-10-28 | 2021-12-17 | 中国第一汽车股份有限公司 | Driving method and device applied to vehicle, electronic equipment and storage medium |
| CN113917923A (en) * | 2021-10-11 | 2022-01-11 | 上海安吉星信息服务有限公司 | Automatic driving starting method and device |
| CN113978484A (en) * | 2021-09-30 | 2022-01-28 | 东风汽车集团股份有限公司 | Vehicle control method, device, electronic device and storage medium |
| CN114355902A (en) * | 2021-12-17 | 2022-04-15 | 重庆长安汽车股份有限公司 | Navigation enhancement display method based on high-precision map and automobile |
| CN114353811A (en) * | 2021-12-30 | 2022-04-15 | 广州小鹏自动驾驶科技有限公司 | High-precision map loading method and device, vehicle and storage medium |
| CN114485710A (en) * | 2022-01-19 | 2022-05-13 | 北京百度网讯科技有限公司 | Map navigation method, system, device, electronic equipment and storage medium |
| CN114550458A (en) * | 2022-03-29 | 2022-05-27 | 四川智慧高速科技有限公司 | Unmanned-based all-weather passing method for vehicles on expressway |
| CN114840626A (en) * | 2022-05-13 | 2022-08-02 | 阿波罗智联(北京)科技有限公司 | High-precision map data processing method, driving navigation method and related device |
| CN114858176A (en) * | 2022-04-13 | 2022-08-05 | 合众新能源汽车有限公司 | Path navigation method and device based on automatic driving |
| CN115167406A (en) * | 2022-06-28 | 2022-10-11 | 智己汽车科技有限公司 | Dynamic autopilot global path generation method and equipment |
| CN115438051A (en) * | 2021-11-18 | 2022-12-06 | 北京车和家信息技术有限公司 | Map updating method and device |
-
2021
- 2021-05-06 CN CN202110489800.4A patent/CN113359698A/en not_active Withdrawn
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113978484A (en) * | 2021-09-30 | 2022-01-28 | 东风汽车集团股份有限公司 | Vehicle control method, device, electronic device and storage medium |
| CN113917923A (en) * | 2021-10-11 | 2022-01-11 | 上海安吉星信息服务有限公司 | Automatic driving starting method and device |
| CN113804204A (en) * | 2021-10-28 | 2021-12-17 | 中国第一汽车股份有限公司 | Driving method and device applied to vehicle, electronic equipment and storage medium |
| CN115438051A (en) * | 2021-11-18 | 2022-12-06 | 北京车和家信息技术有限公司 | Map updating method and device |
| WO2023088270A1 (en) * | 2021-11-18 | 2023-05-25 | 北京车和家信息技术有限公司 | Map update method and apparatus thereof |
| CN114355902A (en) * | 2021-12-17 | 2022-04-15 | 重庆长安汽车股份有限公司 | Navigation enhancement display method based on high-precision map and automobile |
| CN114355902B (en) * | 2021-12-17 | 2024-02-09 | 重庆长安汽车股份有限公司 | Navigation enhancement display method based on high-precision map and automobile |
| CN114353811A (en) * | 2021-12-30 | 2022-04-15 | 广州小鹏自动驾驶科技有限公司 | High-precision map loading method and device, vehicle and storage medium |
| CN114485710A (en) * | 2022-01-19 | 2022-05-13 | 北京百度网讯科技有限公司 | Map navigation method, system, device, electronic equipment and storage medium |
| CN114550458A (en) * | 2022-03-29 | 2022-05-27 | 四川智慧高速科技有限公司 | Unmanned-based all-weather passing method for vehicles on expressway |
| CN114858176A (en) * | 2022-04-13 | 2022-08-05 | 合众新能源汽车有限公司 | Path navigation method and device based on automatic driving |
| CN114840626A (en) * | 2022-05-13 | 2022-08-02 | 阿波罗智联(北京)科技有限公司 | High-precision map data processing method, driving navigation method and related device |
| CN115167406A (en) * | 2022-06-28 | 2022-10-11 | 智己汽车科技有限公司 | Dynamic autopilot global path generation method and equipment |
| CN115167406B (en) * | 2022-06-28 | 2024-05-17 | 智己汽车科技有限公司 | Method and equipment for generating dynamic automatic driving global path |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113359698A (en) | Vehicle navigation method, device, computer equipment and storage medium | |
| CN110164122B (en) | Vehicle queuing system control for intersections | |
| US10399571B2 (en) | Autonomous driving assistance system, autonomous driving assistance method, and computer program | |
| US10300916B2 (en) | Autonomous driving assistance system, autonomous driving assistance method, and computer program | |
| US11520335B2 (en) | Determining driving paths for autonomous driving vehicles based on map data | |
| JP6474307B2 (en) | Automatic driving support system, automatic driving support method, and computer program | |
| JP6252235B2 (en) | Automatic driving support system, automatic driving support method, and computer program | |
| KR101877553B1 (en) | System for autonomous driving, method for driving car using the same | |
| JP4910510B2 (en) | Control information storage device and program | |
| JP6007929B2 (en) | Movement support device, movement support method, and driving support system | |
| CN110874229A (en) | Map upgrading method and device for automatic driving automobile | |
| WO2019026210A1 (en) | Travel assistance method and travel assistance device | |
| US20190079524A1 (en) | Road segment-based routing guidance system for autonomous driving vehicles | |
| JP6289480B2 (en) | Driving information recording system, method and program | |
| JP2008039480A (en) | Route searching device | |
| JP2013160679A (en) | Car navigation system | |
| CN115943289A (en) | Driving support device and computer program | |
| EP4177570A1 (en) | Standard-definition to high-definition navigation route determination | |
| JP2019060669A (en) | Lane change support system and lane change support program | |
| JP2004301606A (en) | Obstacle information providing system for vehicle | |
| JP2008040780A (en) | Apparatus for monitoring circumference vehicle | |
| JP4302703B2 (en) | Navigation device, route re-search method, route re-search program, and recording medium on which route re-search program is recorded | |
| JP2004317390A (en) | Vehicle navigation device and its program, and recording medium | |
| WO2019003992A1 (en) | Information management device | |
| JP7205798B2 (en) | self-driving device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20210907 |
|
| WW01 | Invention patent application withdrawn after publication |