CN114355902B - Navigation enhancement display method based on high-precision map and automobile - Google Patents
Navigation enhancement display method based on high-precision map and automobile Download PDFInfo
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- CN114355902B CN114355902B CN202111554593.2A CN202111554593A CN114355902B CN 114355902 B CN114355902 B CN 114355902B CN 202111554593 A CN202111554593 A CN 202111554593A CN 114355902 B CN114355902 B CN 114355902B
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- 230000008033 biological extinction Effects 0.000 claims description 4
- 102100034112 Alkyldihydroxyacetonephosphate synthase, peroxisomal Human genes 0.000 description 2
- 101000799143 Homo sapiens Alkyldihydroxyacetonephosphate synthase, peroxisomal Proteins 0.000 description 2
- 238000000848 angular dependent Auger electron spectroscopy Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000003190 augmentative effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- 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
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—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
- G01C21/30—Map- or contour-matching
-
- 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
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3626—Details of the output of route guidance instructions
- G01C21/3658—Lane guidance
-
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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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)
- Aviation & Aerospace Engineering (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Navigation (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention provides a navigation enhancement display method based on a high-precision map device, which is applied to a navigation enhancement display system, wherein the navigation enhancement display system comprises the following steps: a central controller; steering wheel keys, a vehicle-mounted front-mounted camera, a vehicle-mounted navigation device, a high-precision map device, a vehicle-mounted positioning instrument, a vehicle-mounted display and a vehicle-mounted loudspeaker which are respectively connected with the central controller; the vehicle-mounted front camera, the vehicle-mounted navigation and the vehicle-mounted positioning instrument are respectively connected with the high-precision map device.
Description
Technical Field
The invention belongs to the field of safe driving of automobiles, and particularly relates to a navigation augmented reality method based on a high-precision map and an automobile.
Background
At present, a driving auxiliary system mainly realizes acceleration and deceleration and transverse control in a single lane by means of millimeter wave radar and a camera to identify lane lines and vehicle information. The vehicle navigation mainly gives out a path and prompt information of standard working conditions. Some driving support vehicles are equipped with ADAS maps, which can provide information on road types, curves, ramps, etc., and support the driving support system to perform speed control, but lane-level positioning cannot be performed due to accuracy.
The appearance of the high-precision map has the transverse precision reaching the centimeter level, and can realize lane-level positioning and more accurate scene reconstruction. When the driver does not use the driving assistance function, the high-precision map device and the visual sensor are not fully utilized.
Disclosure of Invention
The invention discloses a navigation enhancement method based on a high-precision map device, which comprises the high-precision map device, an ADAS module, a front intelligent camera, a vehicle navigation module and an interaction module. Road information is monitored in real time through fusion of the high-precision map and the sensor, a navigation path is planned, and a driver is prompted through a vehicle-mounted loudspeaker and a vehicle-mounted display.
The technical scheme of the invention is as follows:
the invention provides a navigation enhancement display method based on a high-precision map device, which is applied to a navigation enhancement display system, wherein the navigation enhancement display system comprises the following steps: a central controller; steering wheel keys, a vehicle-mounted front-mounted camera, a vehicle-mounted navigation device, a high-precision map device, a vehicle-mounted positioning instrument, a vehicle-mounted display and a vehicle-mounted loudspeaker which are respectively connected with the central controller; the vehicle-mounted front camera, the vehicle-mounted navigation and the vehicle-mounted positioning instrument are respectively connected with the high-precision map device;
the method comprises the following steps:
when a navigation enhancement display function of the vehicle is started, vehicle-mounted navigation plans a navigation path based on navigation destination information input by a user;
the high-precision map device monitors road information in a second preset distance range in front of the vehicle running based on the front road condition information in the first preset distance range in front of the vehicle running and output by the vehicle-mounted front camera, the navigation path output by the vehicle-mounted navigation and the vehicle positioning information output by the vehicle-mounted positioning instrument;
the central controller judges whether the own vehicle has a parallel road requirement and/or a ramp entering requirement in a second preset distance range in front of the vehicle running based on a navigation path output by the vehicle navigation;
when the fact that the vehicle has a road merging requirement in a second preset distance range in front of the vehicle running is determined, the central controller judges whether a current lane of the vehicle is an extinction lane or not according to road information in the second preset distance range in front of the vehicle running and output by the high-precision map device;
if the current lane of the vehicle is a depletion lane, the central controller controls the vehicle-mounted display and the vehicle-mounted loudspeaker to output first prompt information for prompting the driver to change lanes; after a driver confirms channel changing through a steering wheel key, the central controller controls the vehicle to enter a main road based on a channel changing track generated by the high-precision map device, and controls a popup window on a navigation interface of the vehicle-mounted display to display a channel combining and changing scene;
when the requirement of entering the ramp exists in a second preset distance range in front of the vehicle running, the central controller judges whether a deceleration lane communicated with the ramp exists at the position of the ramp according to a navigation path output by vehicle-mounted navigation;
if a deceleration lane communicated with the ramp exists at the ramp position, whether the current lane of the vehicle is a target lane communicated with the deceleration lane or not;
if the current lane of the vehicle is not the target lane communicated with the speed reduction lane, the central controller controls the vehicle-mounted display and the vehicle-mounted loudspeaker to output second prompt information for prompting the driver to change lanes; after the driver confirms the lane change through the steering wheel keys, the central controller controls the vehicle to change the lane to a deceleration lane communicated with the ramp based on the lane change track generated by the high-precision map device, and controls a popup window on a navigation interface of the vehicle-mounted display to display a ramp change scene.
Preferably, the method further comprises:
if no deceleration lane communicated with the deceleration lane exists at the position of the ramp or the lane where the vehicle is currently located is a target lane communicated with the deceleration lane, controlling a popup window on a navigation interface of the vehicle-mounted display to display the speed limit value of the ramp.
Preferably, the road information within the second predetermined distance range in front of the vehicle traveling provided by the high-precision map apparatus includes: the method comprises the steps of determining whether a parallel road exists in a second preset distance range in front of the vehicle, determining whether a ramp exists in the second preset distance range in front of the vehicle, wherein the second information comprises the total number of lanes at the current position of the vehicle and the total number of lanes at the second preset distance position in front of the vehicle, and the third information comprises the speed limit value of the current position of the vehicle and the fourth information of the speed limit value of the ramp.
The invention also provides an automobile, which comprises the navigation enhancement display method based on the high-precision map.
The beneficial effects of the invention are as follows: 1. the system provides lane-level road traffic flow information, and the information is more accurately displayed to a user; 2. the system calculates the lane change path, and reduces the burden of a driver.
Drawings
FIG. 1 is a block diagram of a navigation enhancement display device according to an embodiment of the present invention;
FIG. 2 is a flow chart of a navigation enhancement display method according to an embodiment of the present invention;
FIG. 3 is a drawing showing a merge pop-up window according to an embodiment of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings of the specification:
the invention provides a navigation enhancement display device based on a high-precision map, which comprises:
a central controller; steering wheel buttons, a vehicle-mounted front-mounted camera, a vehicle-mounted navigation device, a high-precision map device, a vehicle-mounted positioning instrument, a vehicle-mounted display and a vehicle-mounted loudspeaker which are respectively connected with the central controller. The vehicle-mounted front-mounted camera outputs front road condition information in a first preset distance range in front of the vehicle to the central controller, and provides the front road condition information in the first preset distance range in front of the vehicle to the high-precision map device. The vehicle navigation is used for setting a destination by a driver, and the vehicle positioning instruments (RTK and GNSS) are used for providing real-time vehicle positioning information to the high-precision map device and the central controller. The central controller performs decision control and control signal output, and the output decision signal prompts a user through the vehicle-mounted loudspeaker and the vehicle-mounted display.
The central controller receives instructions fed back by a user based on prompt information based on a hard wire signal input by a steering wheel key.
In this embodiment, the driver selects to turn on the navigation-enhanced display function or turn off the navigation-enhanced display function based on the demand. Specifically, the driver turns on or off the function, and the instruction may be input by hardware or may be input on an in-vehicle display. When the navigation enhancement display function is not opened, the navigation enhancement display function is displayed on a display interface of the vehicle-mounted display according to a navigation path output by the vehicle-mounted navigation, namely, the display mode at the moment is consistent with the conventional display mode.
As shown in fig. 2, after the driver turns on the navigation enhancement display function, in this embodiment, the following procedure is performed:
setting destination information by a driver through vehicle-mounted navigation, and planning a navigation path by the vehicle-mounted navigation based on the destination information input by the driver (the process is the prior art);
the high-precision map device monitors road information within 2km in front of the vehicle in real time and outputs the following information:
a) The merging situation within 2km (second predetermined distance range) in front of the vehicle, specifically,: first information of whether the vehicle has a lane in front of 2 km.
b) The ramp condition within 2km (second predetermined distance range) ahead of the vehicle, specifically: and whether second information of the ramp exists within 2km in front of the vehicle.
c) Third information including a total number of lanes at a current position of the vehicle and a total number of lanes at 2km ahead of the vehicle travel; for example, the total number La of lanes, lane ID, 1 from left to right, of the current position of the vehicle is accumulated; the total number of lanes Lb at a position 2km ahead of the vehicle travel, the lane ID, 1 from left to right, is accumulated.
d) And fourth information including a speed limit value of a current position of the vehicle and a speed limit value at a second preset distance position in front of the vehicle.
And the central controller judges whether a parallel road demand or a down ramp demand exists in a range of 2km in front of the vehicle running according to a navigation path provided by the vehicle navigation.
If yes, the central controller specifically needs third information in the road information based on the road information provided by the high-precision map device, the third information is used for identifying the number change of the lanes and judging whether the current lane of the vehicle is a depletion lane or not; if the lane where the vehicle is located is not the extinction lane, controlling the vehicle-mounted display to display according to a navigation interface provided by the original vehicle-mounted navigation; if the current lane of the vehicle is the extinction lane, outputting first prompt information for reminding a driver of lane change through the vehicle-mounted display and the vehicle-mounted loudspeaker. After the driver confirms through the steering wheel key based on the first prompt information, the central controller judges the lane changing possibility according to the lane changing track provided by the high-precision map device and the real-time detection of the surrounding environment by the vehicle-mounted front-mounted camera, and always detects the surrounding environment. The high-precision map device is used for planning a lane change track according to a navigation path, changing the distance between lanes by combining the curvature of the road of the lane and the curvature of the target lane, and fitting a vehicle track equation to calculate a running track. And the central controller also controls the vehicle-mounted display popup window scene reconstruction interface to display the recommended lane change track so as to guide the driver to change lanes.
As shown in fig. 3, the vehicle is traveling in the rightmost lane L3, and the high-precision map device detects that the front of the vehicle is in front of the lane where the front of the lane is dying, i.e., lb < La, and a lane change is required (the vehicle is traveling in the dying lane, i.e., the vehicle has a need to merge into the arterial road). A represents the current position of the vehicle, B represents the intersection point of the lane changing track of the vehicle and two lanes, C represents the final centering of the vehicle to the target lane position point after lane changing, so the actual lane changing process is as follows:
a represents the current position of the vehicle, B represents the intersection point of the lane changing track of the vehicle and two lanes, C represents the final centering of the vehicle to the target lane position point after lane changing, so the actual lane changing process is as follows:
1) A- > B: the high-precision map device locates an initial lane change point B according to a running track equation and plans a running track curve LAB;
2) B- > C: the central controller controls the vehicle to enter a target lane (namely a main road to which the vehicle needs to enter), and the vehicle position is continuously corrected according to the running track of the vehicle.
3) And when the vehicle is kept parallel to the lane for 0.5s, the display interface of the vehicle-mounted display is retracted to the navigation interface.
If the ramp exists, namely a ramp outlet (Lb is larger than La) exists on the navigation path, the central controller judges whether a deceleration lane communicated with the ramp exists or not based on the navigation path; if a deceleration lane exists, judging whether the current lane of the vehicle is a target lane communicated with the deceleration lane or not based on the high-precision map device; if the current lane of the vehicle is not the target lane communicated with the speed reduction lane, the central controller controls the vehicle-mounted display and the vehicle-mounted loudspeaker to output second display information for reminding the driver of lane change; after the driver confirms through the steering wheel key, the central controller controls the vehicle-mounted controller bullet window to display the track of the ramp according to the speed limit value of the ramp, and the vehicle-mounted controller bullet window directly enters the speed reduction lane from the target lane communicated with the ramp, and then enters the ramp. If the speed reduction lane does not exist, the central controller controls the vehicle-mounted controller bullet window to display according to the ramp speed limit value.
Claims (4)
1. The navigation enhancement display method based on the high-precision map device is applied to a navigation enhancement display system, and is characterized in that the navigation enhancement display system comprises the following components: a central controller; steering wheel keys, a vehicle-mounted front-mounted camera, a vehicle-mounted navigation device, a high-precision map device, a vehicle-mounted positioning instrument, a vehicle-mounted display and a vehicle-mounted loudspeaker which are respectively connected with the central controller; the vehicle-mounted front camera, the vehicle-mounted navigation and the vehicle-mounted positioning instrument are respectively connected with the high-precision map device;
the method comprises the following steps:
when a navigation enhancement display function of the vehicle is started, vehicle-mounted navigation plans a navigation path based on navigation destination information input by a user;
the high-precision map device monitors road information in a second preset distance range in front of the vehicle running based on the front road condition information in the first preset distance range in front of the vehicle running and output by the vehicle-mounted front camera, the navigation path output by the vehicle-mounted navigation and the vehicle positioning information output by the vehicle-mounted positioning instrument;
the central controller judges whether the own vehicle has a parallel road requirement and/or a ramp entering requirement in a second preset distance range in front of the vehicle running based on a navigation path output by the vehicle navigation;
when the fact that the vehicle has a road merging requirement in a second preset distance range in front of the vehicle running is determined, the central controller judges whether a current lane of the vehicle is an extinction lane or not according to road information in the second preset distance range in front of the vehicle running and output by the high-precision map device;
if the current lane of the vehicle is a depletion lane, the central controller controls the vehicle-mounted display and the vehicle-mounted loudspeaker to output first prompt information for prompting the driver to change lanes; after a driver confirms channel changing through a steering wheel key, the central controller controls the vehicle to enter a main road based on a channel changing track generated by the high-precision map device, and controls a popup window on a navigation interface of the vehicle-mounted display to display a channel combining and changing scene;
when the requirement of entering the ramp exists in a second preset distance range in front of the vehicle running, the central controller judges whether a deceleration lane communicated with the ramp exists at the position of the ramp according to a navigation path output by vehicle-mounted navigation;
if a deceleration lane communicated with the ramp exists at the ramp position, whether the current lane of the vehicle is a target lane communicated with the deceleration lane or not;
if the current lane of the vehicle is not the target lane communicated with the speed reduction lane, the central controller controls the vehicle-mounted display and the vehicle-mounted loudspeaker to output second prompt information for prompting the driver to change lanes; after the driver confirms the lane change through the steering wheel keys, the central controller controls the vehicle to change the lane to a deceleration lane communicated with the ramp based on the lane change track generated by the high-precision map device, and controls a popup window on a navigation interface of the vehicle-mounted display to display a ramp change scene.
2. The method according to claim 1, wherein the method further comprises:
if no deceleration lane communicated with the deceleration lane exists at the position of the ramp or the lane where the vehicle is currently located is a target lane communicated with the deceleration lane, controlling a popup window on a navigation interface of the vehicle-mounted display to display the speed limit value of the ramp.
3. The method of claim 1, wherein the road information within the second predetermined distance range in front of the vehicle travel provided by the high-precision map device comprises: the method comprises the steps of determining whether a parallel road exists in a second preset distance range in front of the vehicle, determining whether a ramp exists in the second preset distance range in front of the vehicle, wherein the second information comprises the total number of lanes at the current position of the vehicle and the total number of lanes at the second preset distance position in front of the vehicle, and the third information comprises the speed limit value of the current position of the vehicle and the fourth information of the speed limit value of the ramp.
4. An automobile comprising the navigation-enhanced display method based on a high-precision map apparatus as claimed in any one of claims 1 to 3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111554593.2A CN114355902B (en) | 2021-12-17 | 2021-12-17 | Navigation enhancement display method based on high-precision map and automobile |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111554593.2A CN114355902B (en) | 2021-12-17 | 2021-12-17 | Navigation enhancement display method based on high-precision map and automobile |
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| CN114355902B true CN114355902B (en) | 2024-02-09 |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08313291A (en) * | 1995-05-24 | 1996-11-29 | Matsushita Electric Ind Co Ltd | On-vehicle navigation apparatus |
| JPH09178505A (en) * | 1995-12-27 | 1997-07-11 | Pioneer Electron Corp | Drive assist system |
| CN206410712U (en) * | 2017-01-16 | 2017-08-15 | 德尔福电子(苏州)有限公司 | A kind of vehicle-mounted high-precision track navigation system |
| KR20170101758A (en) * | 2016-02-26 | 2017-09-06 | 자동차부품연구원 | Augmented Reality Head Up Display Navigation |
| CN107521411A (en) * | 2017-07-18 | 2017-12-29 | 吉林大学 | A kind of track level navigation augmented reality device for aiding in driver |
| CN113359698A (en) * | 2021-05-06 | 2021-09-07 | 前海七剑科技(深圳)有限公司 | Vehicle navigation method, device, computer equipment and storage medium |
-
2021
- 2021-12-17 CN CN202111554593.2A patent/CN114355902B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08313291A (en) * | 1995-05-24 | 1996-11-29 | Matsushita Electric Ind Co Ltd | On-vehicle navigation apparatus |
| JPH09178505A (en) * | 1995-12-27 | 1997-07-11 | Pioneer Electron Corp | Drive assist system |
| KR20170101758A (en) * | 2016-02-26 | 2017-09-06 | 자동차부품연구원 | Augmented Reality Head Up Display Navigation |
| CN206410712U (en) * | 2017-01-16 | 2017-08-15 | 德尔福电子(苏州)有限公司 | A kind of vehicle-mounted high-precision track navigation system |
| CN107521411A (en) * | 2017-07-18 | 2017-12-29 | 吉林大学 | A kind of track level navigation augmented reality device for aiding in driver |
| CN113359698A (en) * | 2021-05-06 | 2021-09-07 | 前海七剑科技(深圳)有限公司 | Vehicle navigation method, device, computer equipment and storage medium |
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