CN115183791A - Navigation method, navigation device and location-based service providing method - Google Patents
Navigation method, navigation device and location-based service providing method Download PDFInfo
- Publication number
- CN115183791A CN115183791A CN202210813461.5A CN202210813461A CN115183791A CN 115183791 A CN115183791 A CN 115183791A CN 202210813461 A CN202210813461 A CN 202210813461A CN 115183791 A CN115183791 A CN 115183791A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- navigation map
- distance
- decision
- disc
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 82
- 230000008859 change Effects 0.000 claims abstract description 105
- 230000004044 response Effects 0.000 claims abstract description 21
- 238000001914 filtration Methods 0.000 claims description 38
- 238000004590 computer program Methods 0.000 claims description 12
- 238000009877 rendering Methods 0.000 claims description 6
- 230000006870 function Effects 0.000 claims description 5
- 238000012545 processing Methods 0.000 description 34
- 230000008569 process Effects 0.000 description 22
- 230000005012 migration Effects 0.000 description 10
- 238000013508 migration Methods 0.000 description 10
- 238000005516 engineering process Methods 0.000 description 9
- 230000002159 abnormal effect Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 238000004458 analytical method Methods 0.000 description 5
- 238000004891 communication Methods 0.000 description 5
- 238000004364 calculation method Methods 0.000 description 4
- 230000009191 jumping Effects 0.000 description 4
- 230000000007 visual effect Effects 0.000 description 4
- 238000012360 testing method Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 238000009499 grossing Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000008447 perception Effects 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 238000004422 calculation algorithm Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000016776 visual perception Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
-
- 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
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
Abstract
The present disclosure provides a navigation method, a navigation device and a location-based service providing method, including: and generating a decision disc in the navigation map according to the position of the vehicle in the navigation map in response to the received lane change signal, wherein the position of the vehicle in the navigation map is determined based on the position of the vehicle in an actual road scene, the decision disc is used for representing the position of the vehicle after lane change corresponding to the position in the navigation map, controlling the central point of the navigation map, moving from the position of the vehicle in the navigation map to the decision disc, and controlling the vehicle to move to the decision disc in the navigation map.
Description
Technical Field
The present disclosure relates to the field of electronic map technologies, and in particular, to a navigation method and apparatus, and a location-based service providing method.
Background
With the development of automatic driving technology, vehicles have achieved a transition from human control to automatic control. When the vehicle performs lane change based on the automatic driving technology, in a navigation scene, a riding user may feel a process of the lane change of the vehicle through a map.
However, how to dynamically follow the course of changing lanes of a vehicle in an actual scene in a map becomes a problem to be solved urgently.
Disclosure of Invention
The present disclosure provides a navigation method, a navigation device, and a location-based service providing method, which are used to solve the problem of low flexibility of navigation.
In a first aspect, an embodiment of the present disclosure provides a navigation method, where the method includes:
generating a decision disc in a navigation map according to the position of a vehicle in the navigation map in response to receiving the lane change signal, wherein the position of the vehicle in the navigation map is determined based on the position of the vehicle in an actual road scene, and the decision disc is used for representing the lane changed position corresponding to the position of the vehicle in the navigation map;
controlling a central point of the navigation map to move from the position of the vehicle in the navigation map to the decision disc;
controlling the vehicle to move in the navigation map to the decision disc.
In one embodiment of the present disclosure, the controlling the vehicle to move in the navigation map to the decision carousel includes:
in response to the center point coinciding with the decision disc and a vehicle lane change not ending, calculating a first distance between a position of the vehicle in a navigation map and the decision disc;
and controlling the vehicle to smoothly move to the decision disc in a navigation map according to the first distance.
In one embodiment of the present disclosure, controlling the vehicle to move smoothly in a navigation map to the decision disk according to the first distance comprises:
filtering the first distance according to a second distance to obtain a first filtered distance, wherein the second distance is the distance between the position of the vehicle in the navigation map and the decision disc before the first distance;
and controlling the vehicle to move to the decision disc in a navigation map according to the first filtered distance.
In one embodiment of the present disclosure, the controlling the vehicle to move towards the decision disc includes:
and in response to the central point not coinciding with the decision disc and the lane change of the vehicle not being finished, controlling the vehicle to move to the decision disc in a navigation map according to the position of the vehicle in the actual road scene.
In one embodiment of the present disclosure, the method further comprises:
in response to receiving a lane change complete signal or a lane change failure signal and the position of the vehicle in the navigation map does not coincide with the decision disc, calculating a third distance between the position of the vehicle in the navigation map and the decision disc;
and controlling the vehicle to smoothly move to the decision disc in a navigation map according to the third distance.
In one embodiment of the present disclosure, the controlling the vehicle to move smoothly to the decision disc according to the third distance includes:
according to a fourth distance and a distance value zero when the position of the vehicle in the navigation map is coincident with the decision disc, filtering the third distance to obtain a second filtered distance, wherein the fourth distance is the distance between the position of the vehicle in the navigation map and the decision disc before the third distance;
and controlling the vehicle to move to the decision disc in a navigation map according to the second filtered distance.
In one embodiment of the present disclosure, the lane change signal includes a lane after lane change; the method for generating a decision disc in a navigation map according to the position of a vehicle in the navigation map comprises the following steps:
acquiring a lane central line of the lane after lane changing in the navigation map;
and determining the projection position of the vehicle projected to the lane central line in the navigation map according to the position of the vehicle in the navigation map, and determining the projection position as the decision disc.
In a second aspect, an embodiment of the present disclosure provides a navigation device, including:
the generating unit is used for responding to the received lane change signal and generating a decision disc in a navigation map according to the position of a vehicle in the navigation map, wherein the position of the vehicle in the navigation map is determined based on the position of the vehicle in an actual road scene, and the decision disc is used for representing the lane change position corresponding to the position of the vehicle in the navigation map;
the first control unit is used for controlling the central point of the navigation map to move from the position of the vehicle in the navigation map to the decision disc;
and the second control unit is used for controlling the vehicle to move to the decision disc in the navigation map.
In one embodiment of the present disclosure, the second control unit includes:
the calculation subunit is used for calculating a first distance between the position of the vehicle in the navigation map and the decision disc in response to the fact that the central point is coincident with the decision disc and the lane change of the vehicle is not finished;
and the moving subunit is used for controlling the vehicle to smoothly move to the decision disc in the navigation map according to the first distance.
In one embodiment of the present disclosure, the mobile subunit includes:
the filtering module is used for filtering the first distance according to a second distance to obtain a first filtered distance, wherein the second distance is the distance between the position of the vehicle in the navigation map and the decision disc before the first distance;
and the moving module is used for controlling the vehicle to move to the decision disc in the navigation map according to the first filtered distance.
In an embodiment of the present disclosure, the second control unit is configured to, in response to that the central point does not coincide with the decision disc and a vehicle lane change is not finished, control the vehicle to move to the decision disc in a navigation map according to a position of the vehicle in an actual road scene.
In one embodiment of the present disclosure, the apparatus further comprises:
the calculation unit is used for responding to the fact that a lane change completion signal or a lane change failure signal is received and the position of the vehicle in the navigation map is not coincident with the decision disc, and calculating a third distance between the position of the vehicle in the navigation map and the decision disc;
and the third control unit is used for controlling the vehicle to smoothly move to the decision disc in the navigation map according to the third distance.
In one embodiment of the present disclosure, the third control unit includes:
the filtering subunit is configured to perform filtering processing on the third distance according to a fourth distance and a zero distance value when the position of the vehicle in the navigation map coincides with the decision disc, so as to obtain a second filtered distance, where the fourth distance is a distance between the position of the vehicle in the navigation map and the decision disc before the third distance;
and the control subunit is used for controlling the vehicle to move to the decision disc in the navigation map according to the second filtered distance.
In one embodiment of the present disclosure, the lane change signal includes a lane after lane change; the generation unit includes:
the acquisition subunit is used for acquiring the lane central line of the lane after lane change in the navigation map;
and the determining subunit is used for determining the projection position of the vehicle projected to the lane central line in the navigation map according to the position of the vehicle in the navigation map, and determining the projection position as the decision disc.
In a third aspect, an embodiment of the present disclosure provides an electronic device, including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the electronic device to perform the method of any one of the first aspect of the disclosure.
In a fourth aspect, embodiments of the present disclosure provide a computer-readable storage medium on which a computer program is stored, the computer program, when executed by a processor, implementing the method of any one of the first aspects of the present disclosure.
In a fifth aspect, the embodiments of the present disclosure provide a computer program product comprising a computer program that, when executed by a processor, implements the method of any one of the first aspects of the present disclosure.
In a sixth aspect, an embodiment of the present disclosure provides a method for providing a location-based service, where the method uses the navigation map obtained by the method in the first aspect to provide a location-based service for a served object using the navigation map, and the location-based service includes: one or more of navigation, map rendering, route planning.
The embodiment of the disclosure provides a navigation method, a navigation device and a location-based service providing method, wherein a decision-making disc is generated in a navigation map, and the vehicle is controlled to move to the decision-making disc in the navigation map by taking the decision-making disc as a reference, so that effective and reliable following of a vehicle lane changing process can be realized in the navigation map, the effectiveness and reliability of the navigation map are improved, and the dynamic perception experience of a riding user on vehicle lane changing is improved.
Drawings
In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present disclosure, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a navigation method according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of a navigation method of an embodiment of the present disclosure;
FIG. 3 is a schematic diagram of a navigation method according to another embodiment of the present disclosure;
FIG. 4 is a frame schematic of a vehicle according to an embodiment of the present disclosure;
FIG. 5 is a schematic view of a navigation device according to one embodiment of the present disclosure;
FIG. 6 is a schematic view of a navigation device according to another embodiment of the present disclosure;
fig. 7 is a schematic diagram of a hardware structure of an electronic device according to an embodiment of the present disclosure.
Specific embodiments of the present disclosure have been shown by way of example in the drawings and will be described in more detail below. These drawings and written description are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the concepts of the disclosure to those skilled in the art by reference to specific embodiments.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be described clearly and completely with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are some, but not all embodiments of the present disclosure. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
The terms "first," "second," "third," and the like in the description and in the claims of the present disclosure and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the disclosure described herein are capable of operation in sequences other than those illustrated or otherwise described herein.
Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
To facilitate an understanding of the present disclosure, at least some of the terms are now explained as follows:
the automatic driving is also called unmanned driving or computer driving, and is an intelligent control technology for realizing unmanned driving through a computer system, namely the automatic driving can be understood as adopting communication, computer, network, control technology and the like to realize real-time and continuous control on a vehicle, so that the vehicle can run more flexibly and is controlled more effectively, and the automatic driving requirement of the vehicle is met more.
A navigation map (Electronic map), also called a digital map, refers to a map that is stored and referred to digitally using computer technology.
The High-precision map is also called a High definition map (HD map), and refers to a map for automatic driving assistance, the relative precision is in centimeter level, and the High-precision map has rich lane lines, road signs, traffic lights, lane curvature, gradient and lane-level real-time traffic dynamic information, and is mainly used for judgment, decision, control and the like of the automatic driving environment of a machine.
The map base map is also called a basic base map or a geographic base map, and refers to a basic base map for drawing a high-precision map, including road facilities and the like.
Lane change, which means that the vehicle changes from the current lane to another lane.
Lane-level lane change refers to the change of lanes accurately in the lane changing process during vehicle running by depending on a high-precision map.
The lane center line is a long yellow or white straight line in the middle of the road. The traffic marking for dividing the opposite traffic flow is divided into a center double-solid line, a center single-solid line, a center dotted line and a center double-solid line.
The "Surrounding Reality rendering" (SR) is an environment Reality rendering for rendering traffic participants and road facilities around the vehicle.
The traffic sign is a traffic sign or traffic sign for short, and is a facility for transmitting specific information by using graphic symbols and characters to manage traffic and indicate driving direction to ensure smooth road and driving safety, and is mainly applicable to highways, urban roads and special highways, and vehicles and pedestrians need to abide by.
The traffic light is a signal light composed of red, yellow and green (green is blue green) lights for directing traffic.
Filtering refers to a technique for extracting useful data from data containing interference. The filtering manner may include data filtering.
Data filtering refers to a data processing technology for removing noise and restoring real data. Among them, kalman filtering (Kalman filtering) is one way of filtering data.
Kalman filtering is an algorithm for performing optimal estimation on the system state by using a linear system state equation and inputting and outputting observation data through the system.
That is, the kalman filter may estimate whether the current data is noise data based on the previous data, and may estimate the true current data from the previous data if the current data is noise data.
With the development of the automatic driving technology, the vehicle realizes the transition from the human control to the automatic control. In a navigation scenario, when a vehicle performs lane change based on an automatic driving technology, a riding user may feel a process of the vehicle lane change through a map (which may be specifically referred to as a navigation map).
However, the course of the vehicle lane changing is a course of the real-time change of the position of the vehicle, how to dynamically follow the course of the vehicle lane changing in the actual road scene in the navigation map, especially in the lane-level lane changing scene, how to make the navigation map keep consistent with the course of the vehicle lane changing in the actual road scene, and how to dynamically and smoothly display the course of the vehicle lane changing in the navigation map, which is a problem to be solved urgently.
The inventor of the present disclosure has obtained the inventive concept of the present disclosure through creative efforts: and synchronously displaying the lane changing process of the vehicle in the actual road scene in the navigation map by taking the position of the vehicle after lane changing as a central point of the map and taking the central point as a visual angle center of a riding user.
Hereinafter, the technical solution of the present disclosure will be described in detail by specific examples. It should be noted that the following specific embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.
Referring to fig. 1, fig. 1 is a schematic view of a navigation method according to an embodiment of the disclosure, as shown in fig. 1, the method includes:
s101: in response to receiving the lane change signal, a decision disc is generated in the navigation map based on the position of the vehicle in the navigation map.
The position of the vehicle in the navigation map is determined based on the position of the vehicle in an actual road scene, and the decision disc is used for representing the position of the vehicle after lane change corresponding to the position of the vehicle in the navigation map.
For example, the main executing body of the navigation method in the embodiment of the present disclosure is a navigation device, and the navigation device may be a server, a computer, a terminal device (such as a vehicle-mounted terminal), a processor, a chip, or the like, which are not listed here.
It is worth noting that during a lane change of the vehicle, the position of the vehicle in the actual road scene changes in real time. Accordingly, the position of the vehicle in the navigation map is also changed in real time, and the position of the vehicle in the navigation map is changed based on the change in the position of the vehicle in the actual road scene.
Accordingly, the navigation map is changed accordingly, that is, in the navigation scene, the navigation map is dynamically changed based on the change of the position of the vehicle in the actual road scene. For example, when the vehicle is located at different positions in the actual road scene, the environment around the vehicle in the actual road scene may change, such as the road facilities of the vehicle at the positions in the actual road scene may be different, the number of other vehicles may be different, and the like.
For example, as shown in fig. 2, in the navigation map, the lane before the vehicle changes lane is marked as a first lane, and the lane after the vehicle changes lane is marked as a second lane, after the navigation device receives the lane change signal, the navigation device needs to control the vehicle to change from the first lane to the second lane in the navigation map, and the position of the vehicle changing to the second lane in the navigation map may be marked as a decision disc.
S102: and controlling the central point of the navigation map to move from the position of the vehicle in the navigation map to the decision disc.
For example, the center point of the navigation device coincides with the position of the vehicle in the navigation map before the lane change signal is received. In the lane changing process, the position of the vehicle in the actual road scene changes in real time, the decision disc can be used as a central point, namely, a visual angle center of a riding user by controlling the central point which is coincident with the position of the vehicle in the navigation map to move to the decision disc, and the lane changing process of the vehicle in the navigation map is experienced, so that the display reliability and effectiveness of the navigation map on the lane changing process of the vehicle are improved, and the dynamic perception experience of the riding user on the lane changing of the vehicle is improved.
S103: and controlling the vehicle to move to the decision disc in the navigation map.
The decision disc is exemplarily the position of the vehicle after lane change, and thus, the process of lane change of the vehicle in the navigation map can be understood as the process of moving the vehicle from the position in the navigation map to the decision disc.
It should be noted that S102 and S103 are two parallel steps, that is, S102 and S103 are two steps executed synchronously, and the vehicle is controlled to move to the decision-making disc in the navigation map while the central point is controlled to move to the decision-making disc, so that the dynamic following of the vehicle lane changing process from the user perspective is realized in the vehicle lane changing process.
Based on the above analysis, the present disclosure provides a navigation method, including: in response to receiving the lane change signal, generating a decision disc in the navigation map according to the position of the vehicle in the navigation map, wherein the position of the vehicle in the navigation map is determined based on the position of the vehicle in an actual road scene, the decision disc is used for representing the position of the vehicle after lane change corresponding to the position in the navigation map, controlling a central point of the navigation map, moving the vehicle from the position of the vehicle in the navigation map to the decision disc, and controlling the vehicle to move to the decision disc in the navigation map.
In order to provide the reader with a more thorough understanding of the principles underlying the present disclosure, embodiments of the present disclosure will now be described in greater detail with reference to fig. 3. Fig. 3 is a schematic view of a navigation method according to another embodiment of the disclosure, and as shown in fig. 3, the method includes:
s301: the position of the vehicle in the actual road scene is obtained.
It should be understood that, in order to avoid tedious statements, the technical features of the present embodiment that are the same as those of the above embodiments are not described again in this embodiment.
The embodiment does not limit the manner of acquiring the position of the vehicle in the actual road scene. For example, the vehicle is provided with sensors including, but not limited to, a Global Positioning System (GPS), a radar, and an Inertial Navigation System (INS), and the navigation device may establish communication with the sensors, receive sensor signals collected by the sensors and transmitted by the sensors, and determine the position of the vehicle in an actual road scene according to the sensor signals.
Or, an automatic driving system is arranged on the vehicle, the vehicle can realize automatic driving of the vehicle based on the automatic driving system, and the automatic driving system can respectively establish communication with the sensor and the navigation device so as to receive sensor signals acquired and transmitted by the sensor, and determine the position of the vehicle in the actual road scene according to the sensor signals so as to transmit the position of the vehicle in the actual road scene to the navigation device.
S302: and acquiring a map base map corresponding to the position of the vehicle in the actual road scene from a preset map base map, and generating a navigation map according to the acquired map base map.
For example, a positioning process may be performed in the map base map according to the position of the vehicle in the actual road scene to determine the position of the vehicle in the actual road scene in the map base map, and the map base map within a preset range of the position of the vehicle in the actual road scene may be extracted to generate the navigation map based on the extracted map base map.
Because the map base map is a basic base map and comprises road facilities and the like, the navigation map is determined by combining the map base map, so that the navigation map can represent the road facilities and the like in an actual scene, and the navigation map has higher authenticity and reliability.
The preset range may be determined based on a demand, a history, a test, and the like, and this embodiment is not limited. Accordingly, the navigation map can display the road shapes and road facilities (such as traffic signs and traffic lights) within the preset range.
In this embodiment, the output device for displaying the navigation map is not limited, for example, a vehicle-mounted terminal may be disposed on the vehicle, the vehicle-mounted terminal includes a display, and the display may be the output device for the navigation map. As another example, the vehicle may be connected to the user device in a wired or wireless manner, and the user device may be an output device of the navigation map, and the user device includes, but is not limited to, a mobile phone and a tablet computer.
In some embodiments, the navigation device may further acquire information of the environment real depiction, such as information of obstacles within a preset range of the position of the vehicle in the actual road scene, and the like, and the information of the obstacles may include information of other vehicles and/or pedestrians in the actual road scene, and generate the navigation map in combination with the information of the environment real depiction.
Correspondingly, the navigation map generated by combining the map base map and the information described by the environment reality comprises the characteristics of the geographic structure and the characteristics of the current environment of the actual scene, so that the content of the navigation map is rich, and the effectiveness and timeliness of the navigation map are improved.
S303: and responding to the received lane change signal, wherein the lane change signal comprises the lane after the lane change, and the lane central line of the lane after the lane change is obtained in the navigation map.
For example, as shown in fig. 2, the lane after lane change is the second lane, and accordingly, the lane center line of the second lane may be obtained.
S304: and determining the projection position of the vehicle projected to the center line of the lane according to the position of the vehicle in the navigation map, and determining the projection position as a decision disc.
The position of the vehicle in the navigation map is determined based on the position of the vehicle in an actual road scene, and the decision disc is used for representing the position of the vehicle after lane change corresponding to the position of the vehicle in the navigation map.
For example, as shown in fig. 2, the decision disc is a projection position of the vehicle in the navigation map projected to the center line of the lane.
In the embodiment, the projection position is determined by combining the lane center line, so that the projection position is determined as the decision disc, and the decision disc is displayed in the navigation map, so that the lane change process of the vehicle in the navigation map is relatively more closely represented, the dynamic performance of the navigation map processing is improved, and the dynamic riding experience of a riding user is met.
Wherein the decision disc may be highlighted. The lane after lane change, such as the second lane shown in fig. 2, may also be highlighted. Information depicted in the ambient reality may also be highlighted.
And the information of the environment reality depiction can be highlighted by combining the driving direction of the vehicle in the navigation map. Information that the real environment in front of the vehicle is depicted in the navigation map is highlighted, such as with reference to the traveling direction of the vehicle on the navigation map. In another example, information depicting the real environment in the second lane ahead of the vehicle is highlighted based on the traveling direction of the vehicle on the navigation map.
Similarly, the driving direction of the vehicle in the navigation map is determined based on the driving direction of the vehicle in the actual road scene.
The embodiment does not limit the manner of determining the projection position, for example, the projection position may be determined according to the center position of the vehicle in the navigation map, or the projection position may be determined according to the contour of the vehicle in the navigation map. The following will be exemplarily described taking the determination of the projection position according to the center position of the vehicle in the navigation map as an example:
and determining an intersection point of the central position of the vehicle in the navigation map, which is vertical to the central line of the lane, and constructing a decision disc in the second lane by taking the intersection point as the central position of the decision disc. Accordingly, the decision disc may be understood as a coverage area of the vehicle in the second lane in the navigation map, and the coverage area is centered on an intersection point of a center position of the vehicle in the navigation map perpendicular to the center line of the lane.
S305: and controlling the central point of the navigation map to move from the position of the vehicle in the navigation map to the decision disc within a preset time period.
The preset time period may be determined based on a demand, a history, a test, and the like, and this embodiment is not limited.
For example, in order to more quickly facilitate the riding user to experience the dynamic change of lane change based on the user view angle, the preset time period may be set to a relatively small value. Or, in order to avoid the visual perception of the riding user from jumping due to the excessively large change amplitude of the user visual angle, the preset time period may be set to a relatively large value.
In some embodiments, S305 may include the steps of:
the first step is as follows: and calculating the moving distance between the central point and the decision disc.
It should be noted that the decision disc is determined based on the position of the vehicle in the navigation map, the position of the vehicle in the navigation map is based on the position of the vehicle in the actual road scene, and the position of the vehicle in the actual road scene changes in real time during the lane change of the vehicle, so that the position of the vehicle in the navigation map changes in real time, the decision disc changes in real time, and the moving distance also changes in real time.
In some embodiments, the central point may be represented by a coordinate system of the navigation map, and the decision disc may also be represented by a coordinate system of the navigation map, and accordingly, a coordinate distance between the coordinate of the central point and the coordinate of the decision disc may be calculated in a coordinate calculation manner, where the coordinate distance is a movement distance.
The second step is as follows: and calculating to obtain the moving speed according to the moving distance and the preset time period.
Similarly, the moving distance is changed in real time, and the available time in the preset time period is gradually reduced in the lane changing process of the vehicle, so that the moving speed may be changed along with the change of the moving distance, that is, the moving speed may be constant or may not be constant.
The third step: and controlling the central point of the navigation map according to the moving speed, and moving from the position of the vehicle in the navigation map to the decision disc.
S306: and controlling the vehicle to move to the decision disc in the navigation map.
In some embodiments, S306 may include the steps of:
the first step is as follows: in response to the center point coinciding with the decision disc and the vehicle lane change not ending, a first distance between the position of the vehicle in the navigation map and the decision disc is calculated.
In combination with the above analysis, in the vehicle lane change process, the navigation device may control the central point coinciding with the position of the vehicle in the navigation map to move towards the decision disc, along with the movement of the central point, the central point may coincide with the decision disc, and when the central point coincides with the decision disc, the vehicle lane change is not yet finished, that is, the vehicle lane change is still continued, and then calculate the first distance between the position of the vehicle in the navigation map and the decision disc in the scene.
It should be noted that, since the lane change of the vehicle is not completed, the position of the vehicle in the actual road scene is changed in real time, and the position of the vehicle in the navigation map is determined based on the position in the actual road scene, so that the position of the vehicle in the navigation map is also changed in real time, accordingly, the decision disc is also changed in real time, and the first distance is also changed in real time.
The second step is as follows: and controlling the vehicle to smoothly move to the decision disc in the navigation map according to the first distance.
The embodiment does not limit the smoothing manner for controlling the vehicle to move to the decision disc in the navigation map, and may be implemented in a filtering manner, such as the above data filtering manner, and specifically may be implemented in the above kalman filtering manner.
In the embodiment, by controlling the vehicle to smoothly move the decision disc in the navigation map, the vehicle can smoothly move in the navigation map, and abnormal jumping of the vehicle in the navigation map is avoided.
In some embodiments, the second step may comprise the sub-steps of:
the first substep: and filtering the first distance according to the second distance to obtain a first filtered distance.
Wherein the second distance is a distance between the position of the vehicle in the navigation map and the decision disc before the first distance.
For example, the first distance may be a distance between the position of the vehicle in the navigation map and the decision disc in a scenario where the center point coincides with the decision disc, and the second distance may include a distance between the position of the vehicle in the navigation map and the decision disc before the center point coincides with the decision disc.
By combining the above analysis, it can be known that the vehicle can smoothly move to the decision disc in the navigation map in a kalman filtering manner, and correspondingly, the first filtered distance can be obtained in a kalman filtering manner, for example, the kalman filtering is used to perform filtering calculation on the second distance and the first distance, so as to obtain the first filtered distance.
For example, the kalman filtering may obtain the first filtered distance by estimating the first distance and the second distance. In connection with the above explanation of the term kalman filtering, the second distance is a distance obtained before the first distance, and thus the first distance may be understood as current data, and the second distance may be understood as previous data, accordingly, kalman filtering may estimate whether the current data (i.e., the first distance) is noise data (i.e., an erroneous distance) based on the previous data (i.e., the second distance), and if the current data (i.e., the first distance) is noise data (i.e., an erroneous distance), the true current data (i.e., the first filtered distance) may be estimated from the previous data (i.e., the second distance).
In the kalman filtering, the distribution depends on a gaussian function, the gaussian function can be constructed by the second distance, so as to obtain a model satisfying the normal distribution of the gaussian function, and the first filtered distance is estimated based on the model satisfying the normal distribution and the first distance, so as to avoid the first distance from being an abnormally-bouncing distance, so that the vehicle is controlled to smoothly move to the decision disc in the navigation map by the first filtered distance.
For example, the first distance is 9 meters (m), the second distance includes 8 meters and 7 meters, since the distance between the vehicle and the decision disc in the navigation map is a process of continuously reducing during the lane changing process of the vehicle, and the distance before the first distance is 8 meters and 7 meters, the first distance 9 meters is an abnormal signal, and when the first distance 9 meters is input into the model of the normal distribution, the model of the normal distribution filters the first distance (9 meters), that is, the distance satisfying the normal distribution is estimated, for example, the distance satisfying 7.5 meters (i.e., the first filtered distance) is obtained.
The second substep: and controlling the vehicle to move to the decision disc in the navigation map according to the first filtered distance.
In the embodiment, the first filtered distance is determined in a filtering processing mode to filter abnormal data and avoid abnormal distance jumping, so that the first filtered distance has higher accuracy and reliability, and the effectiveness and reliability of controlling the vehicle to move in the navigation map are improved.
In combination with the above analysis, it can be known that there may be a scene in which the lane change of the vehicle has not been completed when the center point coincides with the decision disc, and since the center point moves to coincide with the decision disc within the preset time period, in other embodiments, there may also be a scene in which the center point does not coincide with the decision disc and the lane change of the vehicle is not completed.
Accordingly, in response to the center point not coinciding with the decision disc and the vehicle lane change not ending, S306 may include: and controlling the vehicle to move to the decision disc in the navigation map according to the position of the vehicle in the actual road scene.
For example, in a scene where the position of the vehicle in the actual road scene changes in real time, the central point does not coincide with the decision disc, and the lane change of the vehicle is not finished, the navigation device may adjust the position of the vehicle in the navigation map based on the position of the vehicle in the actual road scene, so that the position of the vehicle in the navigation map is synchronized with the position of the vehicle in the actual road scene, and the high fit of the lane change of the vehicle in the navigation map and the actual road scene is achieved.
In still other embodiments, such as over time, the navigation device may receive a lane change complete signal, such as after the vehicle has changed lanes for a period of time, the vehicle has completed a lane change in the actual road scene, and the position of the vehicle in the navigation map is not coincident with the decision disc, i.e., the vehicle has not completed a lane change in the navigation map.
Or, the navigation device may also receive a lane change failure signal, for example, the lane change of the vehicle cannot be completed due to congestion in an actual road scene or the like, and the position of the vehicle in the navigation map is not overlapped with the decision disc, that is, the lane change of the vehicle has not been completed in the navigation map scene.
Accordingly, in response to receiving the lane change completion signal or the lane change failure signal and the position of the vehicle in the navigation map is not coincident with the decision disc, S306 may include the steps of:
the first step is as follows: a third distance between the position of the vehicle in the navigation map and the decision disc is calculated.
The second step: and controlling the vehicle to smoothly move to the decision disc in the navigation map according to the third distance.
Similarly, in the embodiment, by combining the third distance to control the vehicle to smoothly move to the decision disc in the navigation map, the vehicle can smoothly move in the navigation map, and abnormal jumping of the vehicle in the navigation map is avoided.
In some embodiments, the second step may also include the following sub-steps:
the first substep: and filtering the third distance according to the fourth distance and the zero distance value when the position of the vehicle in the navigation map is superposed with the decision disc to obtain a second filtered distance.
Wherein the fourth distance is the distance between the position of the vehicle in the navigation map and the decision disc before the third distance.
Illustratively, the third distance is a distance between the position of the vehicle in the navigation map and the decision disc in a scenario where the center point is not coincident with the decision disc and the lane change completion signal or the lane change failure signal is received, and the fourth distance may include a distance between the position of the vehicle in the navigation map and the decision disc in a scenario where the center point is not coincident with the decision disc and the lane change completion signal and the lane change failure signal are not received.
In combination with the above analysis, it can be known that filtering may be performed in a kalman filtering manner, and specifically, filtering may be implemented in combination with a model of normal distribution, and accordingly, in this embodiment, a model of normal distribution may also be constructed based on the fourth distance, a distance value is input to the model of normal distribution, and a second post-filtering distance is output.
The second substep: and controlling the vehicle to move to the decision disc in the navigation map according to the second filtered distance.
Similarly, in the embodiment, the second filtered distance is determined in a filtering processing mode to filter abnormal data and avoid abnormal distance jump, so that the second filtered distance has higher accuracy and reliability, and the effectiveness and reliability of controlling the vehicle to move in the navigation map are improved.
In some embodiments, as shown in fig. 4, an automatic driving system, a signal processing system, and a perspective following system are deployed in the vehicle, the signal processing system establishes communication with the automatic driving system and the perspective following system respectively, and the signal processing system and the perspective following system may be components of the processing device, that is, the navigation method described in the above embodiments may be implemented by the signal processing system and the perspective following system.
For example, as shown in fig. 4, the automatic driving system generates a vehicle decision signal according to a driving scene of the vehicle and transmits the vehicle strategy signal to the signal processing system.
The vehicle decision signal is used for indicating the type of the driving strategy of the vehicle, such as keeping the current lane driving, starting lane changing and the like.
Accordingly, the signal processing system receives the vehicle decision signal transmitted by the automatic driving system, and the signal processing system can perform type recognition on the vehicle decision signal to determine the type of the driving strategy of the vehicle indicated by the vehicle decision signal.
For example, the vehicle decision signal may carry an identifier, and there is a correspondence between the identifier and the driving strategy. The number of the identifiers carried in the vehicle decision signal may be one or more, that is, the vehicle decision signal may be used to indicate one type of driving strategy or may be used to indicate multiple types of driving strategies. Accordingly, the signal processing system may determine the type of driving maneuver of the vehicle based on the identification. And the processing method of the signal processing system can be different according to different types of driving strategies.
For example, if the type of driving strategy is to keep the current lane or to wait for a lane change, the signal processing system may not process the vehicle decision signal.
For another example, if the type of the driving strategy is a recommended lane change or a lane change start, the signal processing system may transmit the vehicle decision signal to the view-following system.
Accordingly, the view angle following system receives the vehicle decision signal transmitted by the signal processing system, and performs the embodiment as described above according to the vehicle decision signal.
For example, the vehicle decision signal may include a lane before lane change, a lane after lane change, a position of the vehicle in the actual road scene, and information depicted by the environmental display. The view angle following system may perform the embodiments as described above in S301 to S306 according to the vehicle decision signal.
For another example, if the type of driving strategy includes lane change failure, the signal processing system may transmit a vehicle decision signal to the perspective following system.
Accordingly, the view angle following system receives the vehicle decision signal transmitted by the signal processing system and moves the central point from the decision disc to the position of the vehicle in the navigation map.
For example, if a vehicle decision signal of a lane change failure signal representing a lane change of the vehicle is received when the viewing angle following system controls the vehicle to move to the decision disc in the navigation map, the viewing angle following system may adjust the center point so that the center point coincides with the position of the vehicle in the navigation map when the vehicle completes the lane change, that is, the position of the vehicle in the navigation map is determined as the center point.
In this embodiment, if lane change fails, the vehicle does not need to continue to perform lane change, the flexibility of navigation map processing can be realized by adjusting the central point, and the navigation map can be highly attached to an actual scene by flexibly processing the navigation map, so that the riding experience of a riding user is improved.
In some embodiments, moving the center point to coincide with the position of the vehicle in the navigation map may include: and performing smooth migration processing on the central point according to the position of the vehicle in the navigation map and the position of the central point until the central point is overlapped with the position of the vehicle in the navigation map.
The smooth migration processing mode is not limited in this embodiment, for example, a segmented migration mode may be adopted.
The step of implementing the smooth migration processing by using the segmented migration may be understood as determining a segmented distance according to the position of the vehicle in the navigation map and the position of the central point, for example, determining the segmented distance based on the distance between the position of the vehicle in the navigation map and the position of the central point and a preset smooth degree, determining a migration speed according to the smooth degree of the segmented distance, and determining a migration direction according to the position of the vehicle in the navigation map, so as to implement the smooth migration processing according to the migration direction and the migration speed.
Similarly, the smoothing degree may be determined based on a demand, a history, a test, and the like, and this embodiment is not limited.
In the embodiment, the central point is smoothly shifted to coincide with the position of the vehicle in the navigation map, so that abnormal fluctuation of the navigation map can be avoided, and the smoothness and the reliability of the navigation map are improved. And when the lane change fails, the central point is moved back to coincide with the position of the vehicle in the navigation map, so that the dynamic and flexible visual angle change of the navigation map can be met, and the riding experience of a riding user is improved.
According to another aspect of the disclosed embodiments, the present disclosure also provides a navigation device. Referring to fig. 5, fig. 5 is a schematic view of a navigation device according to an embodiment of the disclosure, as shown in fig. 5, the navigation device 500 includes:
the generating unit 501 is configured to generate, in response to receiving the lane change signal, a decision disc in the navigation map according to a position of the vehicle in the navigation map, where the position of the vehicle in the navigation map is determined based on the position of the vehicle in the actual road scene, and the decision disc is used to represent a location of the vehicle after the lane change corresponding to the position of the vehicle in the navigation map.
A first control unit 502, configured to control a center point of the navigation map to move from a position of the vehicle in the navigation map to the decision disc.
A second control unit 503, configured to control the vehicle to move to the decision disc in the navigation map.
Referring to fig. 6, fig. 6 is a schematic diagram of a navigation device according to another embodiment of the disclosure, as shown in fig. 6, the navigation device 600 includes:
the generating unit 601 is configured to generate a decision disc in the navigation map according to the position of the vehicle in the navigation map in response to receiving the lane change signal, where the position of the vehicle in the navigation map is determined based on the position of the vehicle in the actual road scene, and the decision disc is used to represent the position of the vehicle after the lane change corresponding to the position of the vehicle in the navigation map.
In some embodiments, the lane-change signal includes a lane after the lane change; the generating unit 601 includes:
an obtaining subunit 6011, configured to obtain, in the navigation map, a lane center line of the lane after the lane change.
A determining subunit 6012, configured to determine, according to a position of the vehicle in a navigation map, a projection position of the vehicle in the navigation map, where the vehicle is projected to the lane center line, and determine the projection position as the decision disc.
A first control unit 602, configured to control a center point of the navigation map to move from a position of the vehicle in the navigation map to the decision disc.
A second control unit 603 for controlling the vehicle to move towards the decision disc in the navigation map.
As can be seen in fig. 6, in some embodiments, the second control unit 603 includes:
a calculating subunit 6031, configured to calculate, in response to the center point coinciding with the decision disc and the vehicle changing lane not ending, a first distance between the position of the vehicle in the navigation map and the decision disc.
A moving subunit 6032, configured to control the vehicle to smoothly move to the decision disc in the navigation map according to the first distance.
In some embodiments, the moving subunit 6032 includes:
and the filtering module is used for carrying out filtering processing on the first distance according to a second distance to obtain a first filtered distance, wherein the second distance is the distance between the position of the vehicle in the navigation map and the decision disc before the first distance.
And the moving module is used for controlling the vehicle to move to the decision disc in the navigation map according to the first filtered distance.
In some embodiments, the second control unit 603 is configured to, in response to the center point not coinciding with the decision disc and a vehicle lane change not ending, control the vehicle to move in the navigation map to the decision disc according to the position of the vehicle in the actual road scene.
A calculating unit 604, configured to calculate a third distance between the position of the vehicle in the navigation map and the decision disc in response to receiving the lane change completion signal or the lane change failure signal and that the position of the vehicle in the navigation map does not coincide with the decision disc.
A third control unit 605, configured to control the vehicle to move smoothly to the decision disc in the navigation map according to the third distance.
As can be seen in fig. 6, in some embodiments, the third control unit 605 includes:
a filtering subunit 6051, configured to filter the third distance according to a fourth distance and a distance value zero when the position of the vehicle in the navigation map coincides with the decision disc, to obtain a second filtered distance, where the fourth distance is a distance between the position of the vehicle in the navigation map and the decision disc before the third distance;
a control subunit 6052, configured to control the vehicle to move to the decision disc in the navigation map according to the second filtered distance.
According to another aspect of the embodiments of the present disclosure, there is also provided a method for providing a location-based service, where the method uses a navigation map obtained by the navigation method according to any of the embodiments above to provide a location-based service for a served object using the navigation map, where the location-based service includes: one or more of navigation, map rendering, route planning.
According to another aspect of the embodiment of the present disclosure, a vehicle is further provided, where the vehicle includes the processing device for the navigation map as described in the above embodiment, and further includes a display device, and the display device is configured to display the navigation map processed by the processing device.
Fig. 7 is a schematic diagram of a hardware structure of an electronic device according to an embodiment of the present disclosure. As shown in fig. 7, an electronic device 700 of an embodiment of the present disclosure may include: at least one processor 701 (only one processor is shown in FIG. 7); and a memory 702 communicatively coupled to the at least one processor. The memory 702 stores instructions executable by the at least one processor 701, and the instructions are executed by the at least one processor 701, so that the electronic device 700 can execute the technical solution in any of the foregoing method embodiments.
Alternatively, the memory 702 may be separate or integrated with the processor 701.
When the memory 702 is a separate device from the processor 701, the electronic device 700 further comprises: a bus 703 for connecting the memory 702 and the processor 701.
The electronic device provided in the embodiment of the present disclosure may execute the technical solutions of any of the foregoing method embodiments, and the implementation principles and technical effects are similar, which are not described herein again.
The embodiment of the present disclosure further provides a computer-readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, the computer program is used to implement the technical solution in any one of the foregoing method embodiments.
The embodiments of the present disclosure provide a computer program product, which includes a computer program, and when the computer program is executed by a processor, the computer program implements the technical solutions in any of the foregoing method embodiments.
The embodiment of the present disclosure further provides a chip, including: a processing module and a communication interface, wherein the processing module can execute the technical scheme in the method embodiment.
Further, the chip further includes a storage module (e.g., a memory), the storage module is configured to store instructions, the processing module is configured to execute the instructions stored in the storage module, and the execution of the instructions stored in the storage module causes the processing module to execute the technical solution in the foregoing method embodiment.
It should be understood that the Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the present invention may be embodied directly in a hardware processor, or in a combination of the hardware and software modules within the processor.
The memory may comprise a high-speed RAM memory, and may further comprise a non-volatile storage NVM, such as at least one disk memory, and may also be a usb disk, a removable hard disk, a read-only memory, a magnetic or optical disk, etc.
The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. The buses in the figures of the present disclosure are not limited to only one bus or type of bus for ease of illustration.
The storage medium may be implemented by any type or combination of volatile or non-volatile memory devices, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks. A storage media may be any available media that can be accessed by a general purpose or special purpose computer.
An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. Of course, the storage medium may also be integral to the processor. The processor and the storage medium may reside in an Application Specific Integrated Circuits (ASIC). Of course, the processor and the storage medium may reside as discrete components in an electronic device.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present disclosure, and not for limiting the same; although the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present disclosure.
Claims (11)
1. A method of navigation, the method comprising:
generating a decision disc in a navigation map according to the position of a vehicle in the navigation map in response to receiving the lane change signal, wherein the position of the vehicle in the navigation map is determined based on the position of the vehicle in an actual road scene, and the decision disc is used for representing the lane changed position corresponding to the position of the vehicle in the navigation map;
controlling a central point of the navigation map to move from the position of the vehicle in the navigation map to the decision disc;
controlling the vehicle to move in the navigation map to the decision disc.
2. The method of claim 1, wherein the controlling the vehicle to move in the navigational map to the decision carousel comprises:
in response to the center point coinciding with the decision disc and a vehicle lane change not ending, calculating a first distance between the position of the vehicle in a navigation map and the decision disc;
and controlling the vehicle to smoothly move to the decision disc in a navigation map according to the first distance.
3. The method of claim 2, wherein controlling the vehicle to move smoothly in a navigation map to the decision disc as a function of the first distance comprises:
filtering the first distance according to a second distance to obtain a first filtered distance, wherein the second distance is the distance between the position of the vehicle in the navigation map and the decision disc before the first distance;
and controlling the vehicle to move to the decision disc in a navigation map according to the first filtered distance.
4. The method of any of claims 1-3, wherein the controlling the vehicle to move toward the decision puck comprises:
and in response to the central point not coinciding with the decision disc and the lane change of the vehicle not being finished, controlling the vehicle to move to the decision disc in a navigation map according to the position of the vehicle in the actual road scene.
5. The method according to any one of claims 1-4, wherein the method further comprises:
in response to receiving a lane change complete signal or a lane change failure signal and the position of the vehicle in the navigation map does not coincide with the decision disc, calculating a third distance between the position of the vehicle in the navigation map and the decision disc;
and controlling the vehicle to smoothly move to the decision disc in a navigation map according to the third distance.
6. The method of claim 5, wherein said controlling the vehicle to move smoothly to the decision disc as a function of the third distance comprises:
according to a fourth distance and a distance value zero when the position of the vehicle in the navigation map is superposed with the decision disc, filtering the third distance to obtain a second filtered distance, wherein the fourth distance is the distance between the position of the vehicle in the navigation map and the decision disc before the third distance;
and controlling the vehicle to move to the decision disc in a navigation map according to the second filtered distance.
7. The method according to any one of claims 1-6, wherein a lane after lane change is included in the lane change signal; the method for generating the decision disc in the navigation map according to the position of the vehicle in the navigation map comprises the following steps:
acquiring a lane central line of the lane after lane changing in the navigation map;
and determining the projection position of the vehicle projected to the lane central line in the navigation map according to the position of the vehicle in the navigation map, and determining the projection position as the decision disc.
8. A navigation device, comprising:
the generating unit is used for responding to the received lane change signal and generating a decision disc in a navigation map according to the position of a vehicle in the navigation map, wherein the position of the vehicle in the navigation map is determined based on the position of the vehicle in an actual road scene, and the decision disc is used for representing the lane change position corresponding to the position of the vehicle in the navigation map;
the first control unit is used for controlling the central point of the navigation map to move from the position of the vehicle in the navigation map to the decision disc;
and the second control unit is used for controlling the vehicle to move to the decision disc in the navigation map.
9. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the electronic device to perform the method of any of claims 1-7.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method of any one of claims 1 to 7.
11. A method for providing a location-based service, the method using a navigation map obtained by the method of any one of claims 1 to 7 to provide a location-based service for an object to be served using the navigation map, the location-based service comprising: one or more of navigation, map rendering, route planning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210813461.5A CN115183791A (en) | 2022-07-11 | 2022-07-11 | Navigation method, navigation device and location-based service providing method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210813461.5A CN115183791A (en) | 2022-07-11 | 2022-07-11 | Navigation method, navigation device and location-based service providing method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115183791A true CN115183791A (en) | 2022-10-14 |
Family
ID=83518297
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210813461.5A Pending CN115183791A (en) | 2022-07-11 | 2022-07-11 | Navigation method, navigation device and location-based service providing method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115183791A (en) |
-
2022
- 2022-07-11 CN CN202210813461.5A patent/CN115183791A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109215433B (en) | Vision-based driving scenario generator for automated driving simulation | |
| US20200103237A1 (en) | Apparatus and associated methods for use in lane-level mapping of road intersections | |
| CN112985432B (en) | Vehicle navigation method, device, electronic equipment and storage medium | |
| CN108303103A (en) | The determination method and apparatus in target track | |
| CN111311902B (en) | Data processing method, device, equipment and machine readable medium | |
| CN101467005A (en) | Navigation device and navigation method | |
| CN103076020A (en) | Navigation device | |
| CN108291814A (en) | For putting the method that motor vehicle is precisely located, equipment, management map device and system in the environment | |
| CN111238498B (en) | Road map generation method, device and related system for lane-level display | |
| CN116394981B (en) | Vehicle control method, automatic driving prompting method and related devices | |
| CN113868356A (en) | Rendering method, rendering apparatus, storage medium, and computer program | |
| CN110530377A (en) | For implementing at least one method and apparatus for improving the measure of safety for vehicle | |
| CN110271553A (en) | Method and apparatus for steadily positioning vehicle | |
| CN113071523A (en) | Control method and control device for unmanned vehicle and unmanned vehicle | |
| CN113029187A (en) | Lane-level navigation method and system fusing ADAS fine perception data | |
| CN102538799B (en) | For the method and apparatus of display section surrounding environment | |
| JP4953015B2 (en) | Own vehicle position recognition device, own vehicle position recognition program, and navigation device using the same | |
| CN115183791A (en) | Navigation method, navigation device and location-based service providing method | |
| CN102045636A (en) | Road condition navigation method, mobile terminal and road condition navigation server | |
| CN114662564A (en) | Road data fusion method and vehicle automatic driving method | |
| CN103021166A (en) | Method and device for traffic weather information processing | |
| CN114413926A (en) | Map display method based on mapbox engine osm data and high-precision data | |
| CN111238499B (en) | Road map generation method and device and related system | |
| CN114509077A (en) | Method, device, system and computer program product for generating navigation guide line | |
| TWI804956B (en) | Navigation system and method capable of indicating correct lane |
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 |