WO2023024878A1

WO2023024878A1 - Automatic driving guide system and method

Info

Publication number: WO2023024878A1
Application number: PCT/CN2022/110788
Authority: WO
Inventors: 刘洋; 孙连明; 宋林桓; 姜云鹏; 崔茂源
Original assignee: 中国第一汽车股份有限公司
Priority date: 2021-08-27
Filing date: 2022-08-08
Publication date: 2023-03-02
Also published as: CN113701776A; CN113701776B

Abstract

An automatic driving guide system and method. The system comprises a cloud end (10) and a target vehicle (20), and the target vehicle (20) comprises a vehicle communication component (201), a high-precision map system (202), a navigation system (203) and an automatic driving control system (204). The cloud end (10) determines a road section matching result of high-precision map data and navigation map data of a target navigation path, and issues a road section matching result to the high-precision map system (202) and the navigation system (203) of the target vehicle (20); after determining a current road section to be driven of the target vehicle, the high-precision map system (202) determines, according to the road section matching result, whether the current road section to be driven meets an automatic driving condition; if so, then the system generates a driving guide signal on the basis of the high-precision map data and sends the driving guide signal to the automatic driving control system (204), so that the automatic driving control system (204) starts an automatic driving function according to the signal and guides the driving of the target vehicle (20).

Description

自动驾驶引导***及方法Automatic driving guidance system and method

本申请要求在2021年08月27日提交中国专利局、申请号为202110992775.1的中国专利申请的优先权，该申请的全部内容通过引用结合在本申请中。This application claims the priority of the Chinese patent application with application number 202110992775.1 submitted to the China Patent Office on August 27, 2021, the entire content of which is incorporated herein by reference.

技术领域technical field

本申请涉及车辆技术领域，例如涉及一种自动驾驶引导***及方法。The present application relates to the technical field of vehicles, for example, to an automatic driving guidance system and method.

背景技术Background technique

高精地图是L3及以上自动驾驶车辆所必需的配置，因为相比雷达、摄像头等传感器，高精地图可以给自动驾驶车辆提供前方更远距离的道路信息，即超视距环境感知。但是，仅依靠高精地图无法完成自动驾驶车辆全局路径规划和引导，主要原因：①高精地图因要素内容丰富数据量较大，无法发送全局的道路信息，行业统一的传输方式是按照高级驾驶辅助***(Advance Driver Assistance Systems version 3，ADASISv3)协议，仅播发车辆前方一定距离(例如2km)的数据，然后随着车辆前进逐步向前增量播发，因此高精地图没有从起点到终点完整的道路信息；②高精地图覆盖度有限，面向量产应用的高精地图主要覆盖结构化道路(高速公路和城市快速路)，未覆盖普通城市道路，因此高精地图有时候无法提供从起点到终点完整的道路信息；③高精地图面向机器应用，不像传统的导航地图一样有显示界面，高精地图与驾驶员没有交互，无法获取驾驶意图，如果不清楚目的地在哪，遇到分岔路口时也就无法进行路径规划。High-precision maps are a necessary configuration for L3 and above self-driving vehicles, because compared with sensors such as radars and cameras, high-precision maps can provide self-driving vehicles with road information farther ahead, that is, beyond-the-horizon environment perception. However, relying solely on high-precision maps cannot complete the global path planning and guidance of self-driving vehicles. The ADASISv3 (Advance Driver Assistance Systems version 3) protocol only broadcasts the data of a certain distance in front of the vehicle (for example, 2km), and then gradually broadcasts forward incrementally as the vehicle advances, so the high-precision map does not have a complete picture from the start to the end Road information; ②The coverage of high-precision maps is limited. High-precision maps for mass production applications mainly cover structured roads (expressways and urban expressways) and do not cover ordinary urban roads. Therefore, sometimes high-precision maps cannot provide information from the starting point to the Complete road information at the destination; ③ High-precision maps are oriented to machine applications. Unlike traditional navigation maps, which have a display interface, high-precision maps have no interaction with drivers and cannot obtain driving intentions. Path planning cannot be performed at a fork in the road.

相关技术通常基于高精地图来实现自动驾驶车辆的路径指引，而由于高精地图无法完成自动驾驶车辆全局路径规划和引导，因此，相关技术存在无法实现自动驾驶车辆的全局路径规划、引导的技术问题。Related technologies are usually based on high-precision maps to achieve path guidance for self-driving vehicles, but because high-precision maps cannot complete the global path planning and guidance of self-driving vehicles, there are related technologies that cannot achieve global path planning and guidance for self-driving vehicles question.

发明内容Contents of the invention

本申请提供了一种自动驾驶引导***及方法，以实现自动驾驶车辆的全局路径规划和引导。The present application provides an automatic driving guidance system and method, so as to realize the global path planning and guidance of the automatic driving vehicle.

本申请提供了一种自动驾驶引导***，包括云端和目标车辆，所述目标车辆包括车辆通信部件、高精地图***、导航***以及自动驾驶控制***；其中，The present application provides an automatic driving guidance system, including the cloud and a target vehicle, and the target vehicle includes a vehicle communication component, a high-precision map system, a navigation system, and an automatic driving control system; wherein,

所述云端，通过所述车辆通信部件与所述高精地图***和所述导航***通信连接，设置为根据目标导航路径对应的高精地图数据和导航地图数据确定所述目标导航路径的路段匹配结果，并通过所述车辆通信部件将所述目标导航路径对应的高精地图数据和所述路段匹配结果发送至所述高精地图***，将所述目标导航路径对应的导航地图数据和所述路段匹配结果发送至所述导航***；The cloud is connected to the high-precision map system and the navigation system through the vehicle communication component, and is configured to determine the road segment matching of the target navigation path according to the high-precision map data and navigation map data corresponding to the target navigation path As a result, the high-precision map data corresponding to the target navigation route and the road section matching result are sent to the high-precision map system through the vehicle communication component, and the navigation map data corresponding to the target navigation route and the The road section matching result is sent to the navigation system;

所述高精地图***，设置为确定所述目标车辆的当前待行驶路段，基于所述路段匹配结果确定所述当前待行驶路段是否满足自动驾驶条件，在所述当前待行驶路段满足自动驾驶条件的情况下，基于所述高精地图数据生成所述当前待行驶路段的驾驶指引信号发送至所述自动驾驶控制***；The high-precision map system is configured to determine the current road segment to be driven by the target vehicle, determine whether the current road segment to be driven meets the automatic driving condition based on the road segment matching result, and satisfy the automatic driving condition on the current road segment to be driven In the case of , generate a driving guidance signal for the current road segment to be driven based on the high-precision map data and send it to the automatic driving control system;

所述自动驾驶控制***，设置为基于所述驾驶指引信号启动所述目标车辆的自动驾驶功能，并基于所述驾驶指引信号引导所述目标车辆的行驶；The automatic driving control system is configured to activate the automatic driving function of the target vehicle based on the driving guidance signal, and guide the driving of the target vehicle based on the driving guidance signal;

所述导航***，设置为将所述导航地图数据和所述路段匹配结果在导航界面上进行渲染显示。The navigation system is configured to render and display the navigation map data and the link matching result on a navigation interface.

一实施例中，所述云端还设置为获取目的地信息，基于所述目的地信息确定至少一个待选导航路径，基于所述至少一个待选导航路径确定所述目标导航路径。In an embodiment, the cloud is further configured to acquire destination information, determine at least one navigation route candidate based on the destination information, and determine the target navigation route based on the at least one navigation route candidate.

一实施例中，所述云端还设置为根据每个待选导航路径的高精地图数据和导航地图数据确定所述每个待选导航路径对应的路径参考信息，将所述至少一个待选导航路径和所述至少一个待选导航路径对应的路径参考信息发送至所述导航***，并基于用户在所述导航***上反馈的路径选择信息确定所述目标导航路径。In an embodiment, the cloud is further configured to determine the route reference information corresponding to each candidate navigation route according to the high-precision map data and the navigation map data of each candidate navigation route, and transfer the at least one candidate navigation route to The path and path reference information corresponding to the at least one navigation path to be selected are sent to the navigation system, and the target navigation path is determined based on path selection information fed back by the user on the navigation system.

一实施例中，所述路径参考信息包括总里程数、可开启自动驾驶的路段数、可开启自动驾驶的里程数、可开启自动驾驶的里程数占比以及预计到达时间中的至少一种。In an embodiment, the route reference information includes at least one of the total mileage, the number of road sections for which automatic driving can be activated, the mileage for which automatic driving can be activated, the percentage of mileage for which automatic driving can be activated, and the estimated time of arrival.

一实施例中，所述云端包括数据匹配单元，所述数据匹配单元设置为确定所述目标导航路径对应的多个导航显示路段，并确定每个导航显示路段的导航地图数据以及高精地图数据，基于每个导航显示路段的导航地图数据和高精地图数据生成所述每个导航显示路段的路段匹配结果。In one embodiment, the cloud includes a data matching unit, the data matching unit is configured to determine a plurality of navigation display road sections corresponding to the target navigation route, and determine the navigation map data and high-precision map data of each navigation display road section , generating a link matching result of each navigation display link based on the navigation map data and the high-precision map data of each navigation display link.

一实施例中，所述数据匹配单元设置为通过如下方式确定每个导航显示路段的高精地图数据：基于预设映射表以及所述导航显示路段的导航地图数据，确定所述每个导航显示路段的高精地图数据，其中，所述预设映射表包括多个路段的导航地图数据与高精地图数据的关联关系。In an embodiment, the data matching unit is configured to determine the high-precision map data of each navigation display road section in the following manner: based on a preset mapping table and the navigation map data of the navigation display road section, determine the high-precision map data of each navigation display road section. The high-precision map data of road sections, wherein, the preset mapping table includes the association relationship between navigation map data and high-precision map data of multiple road sections.

一实施例中，所述路段匹配结果包括地理围栏标识和导航路径标识，所述高精地图***设置为通过如下方式基于所述路段匹配结果确定所述当前待行驶路段是否满足自动驾驶条件：根据所述当前待行驶路段的地理围栏标识和导航路径标识，确定所述当前待行驶路段是否满足自动驾驶条件。In one embodiment, the road section matching result includes a geo-fence identifier and a navigation route identifier, and the high-precision map system is configured to determine whether the current road section to be driven meets the automatic driving condition based on the road section matching result in the following manner: according to The geo-fence identifier and the navigation route identifier of the current road segment to be driven determine whether the current road segment to be driven satisfies the automatic driving condition.

一实施例中，所述高精地图***还设置为在确定出所述当前待行驶路段不满足自动驾驶条件时，向所述导航***发送人工驾驶切换信号，所述导航***还设置为基于所述人工驾驶切换信号，在所述导航界面上显示人工驾驶提示信息。In an embodiment, the high-precision map system is further configured to send a manual driving switching signal to the navigation system when it is determined that the current road segment to be driven does not meet the automatic driving condition, and the navigation system is further configured to The manual driving switching signal is used to display manual driving prompt information on the navigation interface.

一实施例中，所述导航***还设置为接收所述云端下发的所述目标车辆的定位信息，基于所述路段匹配结果确定驾驶切换节点，基于所述定位信息以及所述驾驶切换节点在所述导航界面上显示驾驶切换提示信息。In an embodiment, the navigation system is further configured to receive the positioning information of the target vehicle issued by the cloud, determine the driving switching node based on the road section matching result, and determine the driving switching node based on the positioning information and the location of the driving switching node. Driving switching prompt information is displayed on the navigation interface.

本申请还提供了一种自动驾驶引导方法，包括：The present application also provides an automatic driving guidance method, including:

云端根据目标导航路径对应的高精地图数据和导航地图数据，确定所述目标导航路径的路段匹配结果，并通过车辆通信部件将目标导航路径对应的高精地图数据和所述路段匹配结果发送至高精地图***，将所述目标导航路径对应的导航地图数据和所述路段匹配结果发送至导航***；The cloud determines the link matching result of the target navigation path according to the high-precision map data and the navigation map data corresponding to the target navigation path, and sends the high-precision map data corresponding to the target navigation path and the link matching result to the high-speed network through the vehicle communication component. The fine map system sends the navigation map data corresponding to the target navigation path and the matching result of the road section to the navigation system;

所述高精地图***确定目标车辆的当前待行驶路段，基于所述路段匹配结果确定所述当前待行驶路段是否满足自动驾驶条件，在所述当前待行驶路段满足自动驾驶条件的情况下，基于所述高精地图数据生成所述当前待行驶路段的驾驶指引信号发送至自动驾驶控制***；The high-precision map system determines the current road segment to be driven by the target vehicle, and determines whether the current road segment to be driven meets the automatic driving condition based on the road segment matching result, and if the current road segment to be driven meets the automatic driving condition, based on the The high-precision map data generates the driving guidance signal of the current road section to be driven and sends it to the automatic driving control system;

所述自动驾驶控制***基于所述驾驶指引信号启动所述目标车辆的自动驾驶功能，并基于所述驾驶指引信号引导所述目标车辆的行驶；The automatic driving control system activates the automatic driving function of the target vehicle based on the driving guidance signal, and guides the driving of the target vehicle based on the driving guidance signal;

其中，所述导航地图数据和所述路段匹配结果在所述导航***的导航界面上渲染显示。Wherein, the navigation map data and the road section matching result are rendered and displayed on the navigation interface of the navigation system.

附图说明Description of drawings

图1A为本申请实施例一提供的一种自动驾驶引导***的结构示意图；FIG. 1A is a schematic structural diagram of an automatic driving guidance system provided in Embodiment 1 of the present application;

图1B为本申请实施例一提供的一种目标导航路径；FIG. 1B is a target navigation path provided in Embodiment 1 of the present application;

图2为本申请实施例二提供的一种自动驾驶引导***的交互示意图；FIG. 2 is an interactive schematic diagram of an automatic driving guidance system provided in Embodiment 2 of the present application;

图3为本申请实施例三提供的一种自动驾驶引导方法的流程示意图。FIG. 3 is a schematic flowchart of an automatic driving guidance method provided in Embodiment 3 of the present application.

具体实施方式Detailed ways

下面结合附图和实施例对本申请进行说明。此处所描述的具体实施例仅仅用于解释本申请。The application will be described below in conjunction with the accompanying drawings and embodiments. The specific embodiments described herein are for illustration of the application only.

实施例一Embodiment one

图1A为本申请实施例一提供的一种自动驾驶引导***的结构示意图，如图1A所示，本实施例提供的自动驾驶引导***包括云端10和目标车辆20，目标车辆20包括车辆通信部件201、高精地图***202、导航***203以及自动驾驶控制***204；其中，云端10，通过车辆通信部件201与高精地图***202和导航***203通信连接，设置为根据目标导航路径对应的高精地图数据和导航地图数据确定目标导航路径的路段匹配结果，并通过车辆通信部件201将目标导航路径对应的高精地图数据和路段匹配结果发送至高精地图***202，将目标导航路径对应的导航地图数据和路段匹配结果发送至导航***203；高精地图***202，设置为确定目标车辆20的当前待行驶路段，基于路段匹配结果确定当前待行驶路段是否满足自动驾驶条件，在当前待行驶路段满足自动驾驶条件的情况下，基于高精地图数据生成当前待行驶路段的驾驶指引信号发送至自动驾驶控制***204；自动驾驶控制***204，设置为基于驾驶指引信号启动目标车辆20的自动驾驶功能，并基于驾驶指引信号引导目标车辆20的行驶；导航***203，设置为将导航地图数据和路段匹配结果在导航界面上进行渲染显示。FIG. 1A is a schematic structural diagram of an automatic driving guidance system provided in Embodiment 1 of the present application. As shown in FIG. 1A , the automatic driving guidance system provided in this embodiment includes a cloud 10 and a target vehicle 20, and the target vehicle 20 includes vehicle communication components. 201, a high-precision map system 202, a navigation system 203, and an automatic driving control system 204; wherein, the cloud 10 communicates with the high-precision map system 202 and the navigation system 203 through the vehicle communication component 201, and is set to a high-speed map corresponding to the target navigation route. The fine map data and the navigation map data determine the road section matching result of the target navigation route, and send the high-precision map data and the road section matching result corresponding to the target navigation route to the high-precision map system 202 through the vehicle communication component 201, and the navigation map corresponding to the target navigation route The map data and road segment matching results are sent to the navigation system 203; the high-precision map system 202 is configured to determine the current road segment to be driven by the target vehicle 20, and determine whether the current road segment to be driven meets the automatic driving condition based on the road segment matching result. When the conditions for automatic driving are met, generate a driving guidance signal for the current road section to be driven based on the high-precision map data and send it to the automatic driving control system 204; the automatic driving control system 204 is set to start the automatic driving function of the target vehicle 20 based on the driving guidance signal , and guide the driving of the target vehicle 20 based on the driving guidance signal; the navigation system 203 is configured to render and display the navigation map data and road segment matching results on the navigation interface.

目标导航路径可以是云端10根据用户在导航***203的展示界面上输入的目的地信息确定的。例如，云端10根据目标车辆20的定位信息确定出多个导航路径，并基于每个导航路径的总里程数、预计行驶时间、是否包含高速行驶路段、高速路口费用信息、是否包含拥堵路段、拥堵路段的预计拥堵时间等信息，在多个导航路径中自动确定出目标导航路径；或者，云端10还可以将根据目标车辆20的定位信息所确定出的多个导航路径发送至导航***203，以使导航***203在展示界面对多个导航路径进行显示，以供用户在多个导航路径中选择出目标导航路径。The target navigation route may be determined by the cloud 10 according to the destination information input by the user on the display interface of the navigation system 203 . For example, the cloud 10 determines a plurality of navigation routes according to the positioning information of the target vehicle 20, and based on the total mileage of each navigation route, estimated travel time, whether it includes high-speed driving sections, high-speed intersection fee information, whether it includes congested sections, congestion The information such as the expected congestion time of the road section automatically determines the target navigation route in multiple navigation routes; or, the cloud 10 can also send the multiple navigation routes determined according to the positioning information of the target vehicle 20 to the navigation system 203. Make the navigation system 203 display multiple navigation paths on the presentation interface for the user to select a target navigation path from among the multiple navigation paths.

云端10在确定出目标导航路径后，可以确定出目标导航路径对应的高精地图数据和导航地图数据。其中，目标导航路径对应的高精地图数据可以包括目标导航路径中包含的所有路段的高精地图数据以及与目标导航路径中包含的所有路段相关联的其它路段的高精地图数据。示例性的，与路段相关联的其它路段可以是路段的交叉路口处的其它路段。如，目标导航路径包括路段a、路段b和路段c，路段a的交叉路口处还有路段d，则目标导航路径对应的高精地图数据包括路段a、c、c、d的高精地图数据。相应的，目标导航路径对应的导航地图数据可以包括目标导航路径中包含的所有路段的导航地图数据以及与目标导航路径中包含的所有路段相关联的其它路段的导航地图数据。After the cloud 10 determines the target navigation route, it can determine the high-precision map data and navigation map data corresponding to the target navigation route. Wherein, the HD map data corresponding to the target navigation route may include HD map data of all road segments included in the target navigation route and HD map data of other road segments associated with all road segments included in the target navigation route. Exemplarily, other road segments associated with the road segment may be other road segments at intersections of the road segment. For example, the target navigation path includes road section a, road section b, and road section c, and there is road section d at the intersection of road section a, then the high-precision map data corresponding to the target navigation path includes the high-precision map data of road sections a, c, c, and d . Correspondingly, the navigation map data corresponding to the target navigation route may include navigation map data of all road segments included in the target navigation route and navigation map data of other road segments associated with all road segments included in the target navigation route.

云端10在确定出目标导航路径对应的高精地图数据和导航地图数据后，可以对高精地图数据和导航地图数据进行匹配，得到目标导航路径的路段匹配结果。其中，路段匹配结果可以是每个路段是否在地理围栏内，以及每个路段是否位于目标导航路径上。若路段在地理围栏内，则可以开启自动驾驶功能。After the cloud 10 determines the high-definition map data and navigation map data corresponding to the target navigation route, it can match the high-precision map data and the navigation map data to obtain the road section matching result of the target navigation route. Wherein, the road segment matching result may be whether each road segment is within the geographic fence, and whether each road segment is located on the target navigation path. If the road section is within the geofence, the automatic driving function can be turned on.

示例性的，云端10包括数据匹配单元，数据匹配单元设置为确定目标导航路径对应的多个导航显示路段，并确定每个导航显示路段的导航地图数据以及高精地图数据，基于每个导航显示路段的导航地图数据和高精地图数据生成该导航显示路段的路段匹配结果。Exemplarily, the cloud 10 includes a data matching unit, the data matching unit is configured to determine a plurality of navigation display sections corresponding to the target navigation path, and determine the navigation map data and high-precision map data of each navigation display section, based on each navigation display section The navigation map data and the high-precision map data of the road segment generate the road segment matching result of the navigation display road segment.

导航显示路段可以是目标导航路径中包含的路段，也可以是与目标导航路径中包含的路段相关联的其它路段。在一个例子中，数据匹配单元可以根据每个导航显示路段的路段标识信息，确定该导航显示路段的导航地图数据以及高精地图数据。在另一个例子中，数据匹配单元还设置为基于预设映射表以及导航显示路段的导航地图数据，确定导航显示路段的高精地图数据，其中，预设映射表包括多个路段的导航地图数据与高精地图数据的关联关系。The link displayed in the navigation may be a link included in the target navigation route, or may be another link associated with the link included in the target navigation route. In an example, the data matching unit may determine the navigation map data and high-precision map data of each navigation display link according to the link identification information of each navigation display link. In another example, the data matching unit is further configured to determine the high-precision map data of the navigation display road segment based on the preset mapping table and the navigation map data of the navigation display road segment, wherein the preset mapping table includes navigation map data of multiple road segments Association relationship with HD map data.

预设映射表可以是导航地图数据与高精地图数据的关联映射表。如，导航地图数据c1与高精地图数据b1关联。云端10中的数据匹配单元可以在确定出目标导航路径后，确定目标导航路径对应的每个导航显示路段的导航地图数据，并基于导航地图数据和预设映射表，确定出该导航显示路段的高精地图数据。The preset mapping table may be an association mapping table between navigation map data and high-definition map data. For example, navigation map data c1 is associated with high-precision map data b1. The data matching unit in the cloud 10 can determine the navigation map data of each navigation display road segment corresponding to the target navigation route after determining the target navigation route, and determine the navigation display road segment based on the navigation map data and the preset mapping table. High-precision map data.

即，本实施例可以根据每个导航显示路段的导航地图数据以及高精地图数据，得到该导航显示路段的路段匹配结果，将多个导航显示路段的路段匹配结果作为目标导航路径的路段匹配结果。That is, in this embodiment, according to the navigation map data and high-precision map data of each navigation display link, the link matching result of the navigation display link can be obtained, and the link matching results of multiple navigation display links can be used as the link matching result of the target navigation path .

云端10在确定出目标导航路径的路段匹配结果后，可以通过车辆通信部件201将路段匹配结果、目标导航路径对应的高精地图数据发送至高精地图***202；将路段匹配结果、目标导航路径对应的导航地图数据发送至导航***203。其中，车辆通信部件201可以是远程信息处理盒子(Telematics BOX，T-BOX)。After the cloud 10 determines the link matching result of the target navigation route, it can send the link matching result and the high-precision map data corresponding to the target navigation route to the high-precision map system 202 through the vehicle communication component 201; The navigation map data of is sent to the navigation system 203. Wherein, the vehicle communication component 201 may be a telematics box (Telematics BOX, T-BOX).

在本实施例中，高精地图***202在接收到路段匹配结果和高精地图数据后，可以确定目标车辆20的当前待行驶路段。其中，当前待行驶路段可以是目标车辆20即将驶入的路段，或者，还可以是目标车辆20正在驶入的路段，或者，还可以是目标车辆20已经驶入的路段。In this embodiment, the HD map system 202 can determine the current road segment to be driven by the target vehicle 20 after receiving the road segment matching result and the HD map data. Wherein, the current road section to be driven may be a road section that the target vehicle 20 is about to drive into, or may also be a road section into which the target vehicle 20 is driving, or may also be a road section into which the target vehicle 20 has already driven.

在一种实施方式中，云端10可以向高精地图***202发送目标车辆20的定位信息，并向导航***203发送目标导航路径信息，高精地图***202可以通过车辆通信部件201向导航***203请求目标导航路径信息，在接收到导航***203反馈的目标导航路径信息之后，基于定位信息以及目标导航路径信息，确定当前待行驶路段。In one embodiment, the cloud 10 can send the positioning information of the target vehicle 20 to the high-precision map system 202, and send the target navigation route information to the navigation system 203, and the high-precision map system 202 can send the target vehicle 20 information to the navigation system 203 through the vehicle communication component 201. The target navigation route information is requested, and after receiving the target navigation route information fed back by the navigation system 203 , based on the positioning information and the target navigation route information, the current road segment to be driven is determined.

高精地图***202在确定出当前待行驶路段之后，可以根据云端10下发的路段匹配结果，确定当前待行驶路段是否满足自动驾驶条件，在当前待行驶路段满足自动驾驶条件的情况下，基于当前待行驶路段的高精地图数据生成当前待行驶路段的驾驶指引信号，并将该驾驶指引信号发送至自动驾驶***204。其中，可以基于路段匹配结果中当前待行驶路段是否在地理围栏内确定是否满足自动驾驶条件；或者，基于路段匹配结果中当前待行驶路段是否在地理围栏内，且，是否位于目标导航路径上确定是否满足自动驾驶条件。After the high-precision map system 202 determines the current road segment to be driven, it can determine whether the current road segment to be driven meets the automatic driving condition according to the road segment matching result delivered by the cloud 10, and if the current road segment to be driven meets the automatic driving condition, based on The high-precision map data of the current road segment to be driven generates a driving guidance signal of the current road segment to be driven, and sends the driving guidance signal to the automatic driving system 204 . Wherein, whether the automatic driving condition is satisfied can be determined based on whether the current road segment to be driven in the road segment matching result is within the geo-fence; or, based on whether the current road segment to be driven in the road segment matching result is within the geo-fence and whether it is located on the target navigation path Whether the conditions for automatic driving are met.

示例性的，路段匹配结果包括地理围栏标识和导航路径标识，高精地图***202还设置为根据当前待行驶路段的地理围栏标识和导航路径标识，确定当前待行驶路段是否满足自动驾驶条件。Exemplarily, the link matching result includes a geo-fence identifier and a navigation route identifier, and the high-precision map system 202 is further configured to determine whether the current segment to be driven meets the automatic driving condition according to the geo-fence identifier and the navigation route identifier of the segment to be driven currently.

地理围栏标识可以是表征路段是否在地理围栏内的标识，如，1表示路段在地理围栏内，0表示路段不在地理围栏内。导航路径标识可以是表征路段是否位于目标导航路径上的标识，如，1表示路段位于目标导航路径上。The geo-fence identifier may be an identifier representing whether the road segment is within the geo-fence, for example, 1 indicates that the road segment is within the geo-fence, and 0 indicates that the road segment is not within the geo-fence. The navigation route identifier may be an identifier representing whether the road segment is located on the target navigation route, for example, 1 indicates that the road segment is located on the target navigation route.

自动驾驶控制***204可以根据驾驶指引信号，启动目标车辆20的自动驾驶功能，并基于驾驶指引信号自动引导目标车辆20的行驶。The automatic driving control system 204 can activate the automatic driving function of the target vehicle 20 according to the driving guidance signal, and automatically guide the driving of the target vehicle 20 based on the driving guidance signal.

在一种实施方式中，高精地图***202还设置为在确定出当前待行驶路段不满足自动驾驶条件时，向导航***203发送人工驾驶切换信号，导航***203还设置为基于人工驾驶切换信号，在导航界面上显示人工驾驶提示信息。向导航***203发送人工驾驶切换信号，以使导航***203在导航界面显示人工驾驶提示信息的目的在于：在即将驶出地理围栏区域时，提醒用户人工接管车辆驾驶，进而提高车辆的驾驶安全性。In one embodiment, the high-precision map system 202 is also configured to send a manual driving switching signal to the navigation system 203 when it is determined that the current road section to be driven does not meet the automatic driving conditions, and the navigation system 203 is also configured to switch the signal based on the manual driving , to display manual driving prompt information on the navigation interface. The purpose of sending the manual driving switching signal to the navigation system 203 so that the navigation system 203 displays the manual driving prompt information on the navigation interface is to remind the user to manually take over the driving of the vehicle when it is about to leave the geographical fence area, thereby improving the driving safety of the vehicle .

考虑到高精地图数据的数据量较大，一次发送目标导航路径的所有高精地图数据会使得数据发送时间较长，且对高精地图***的存储空间的要求过高，因此，在一种实施方式中，云端10可以分段向高精地图***202下发目标导航路径的高精地图数据。如，云端10可以根据目标车辆20的定位信息以及目标导航路径信息，分次向高精地图***202下发高精地图数据，每一次下发的高精地图数据可以是位于目标车辆20的预设范围内的路段的高精地图数据。其中，预设范围可以是目标车辆20前方设定范围，也可以是以目标车辆20为中心的设定范围。示例性的，目标车辆20正在驶入a路段，a路段前方有b路段，则云端10可以在目标车辆20刚驶入a路段或即将驶入a路段时下发a路段的高精地图数据，在a路段即将行使完毕时下发b路段的高精地图数据。Considering the large amount of high-precision map data, sending all the high-precision map data of the target navigation route at one time will make the data sending time longer, and the storage space requirements for the high-precision map system are too high. Therefore, in a In an implementation manner, the cloud 10 may deliver the high-precision map data of the target navigation route to the high-precision map system 202 in segments. For example, the cloud 10 can deliver high-precision map data to the high-precision map system 202 in stages according to the positioning information of the target vehicle 20 and the target navigation route information. High-precision map data of road sections within the set range. Wherein, the preset range may be a set range in front of the target vehicle 20 , or a set range centered on the target vehicle 20 . Exemplarily, the target vehicle 20 is driving into road section a, and there is road section b in front of road section a, then the cloud 10 can send the high-precision map data of road section a when the target vehicle 20 has just driven into road section a or is about to enter road section a. When section a is about to be used, the high-precision map data of section b will be issued.

相应的，云端10还可以根据目标车辆20的定位信息以及目标导航路径信息，分次向高精地图***202下发路段匹配结果，每一次下发的路段匹配结果可以是位于目标车辆20的预设范围内的路段对应的路段匹配结果。Correspondingly, the cloud 10 can also deliver road segment matching results to the high-precision map system 202 in stages according to the positioning information of the target vehicle 20 and the target navigation route information. Set the road segment matching results corresponding to the road segments within the range.

云端10还可以根据目标车辆20的定位信息以及目标导航路径信息，分批次的向高精地图***202下发高精地图数据和路段匹配结果，每一次下发的高精地图数据和路段匹配结果可以是位于目标车辆20的预设范围内的路段对应的高精地图数据和路段匹配结果。The cloud 10 can also deliver high-precision map data and road segment matching results to the high-precision map system 202 in batches according to the positioning information of the target vehicle 20 and the target navigation route information, and the high-precision map data and road segment matching results delivered each time The result may be the high-precision map data corresponding to the road segment within the preset range of the target vehicle 20 and the road segment matching result.

在本实施例中，导航***203可以将云端10下发的导航地图数据和路段匹配结果显示在导航界面上，以使用户可以根据导航界面上显示的导航地图数据和路段匹配结果了解目标导航路径全局的路段信息、周边信息以及后续行驶计划，提高了自动驾驶功能的人机交互体验。In this embodiment, the navigation system 203 can display the navigation map data and road segment matching results sent by the cloud 10 on the navigation interface, so that the user can understand the target navigation route according to the navigation map data and road segment matching results displayed on the navigation interface The global road section information, surrounding information and follow-up driving plan improve the human-computer interaction experience of the automatic driving function.

在一个实施方式中，云端10可以将目标导航路径的导航地图数据和路段匹配结果一次下发至导航***203，无需分段多次下发。In one embodiment, the cloud 10 can send the navigation map data and road segment matching results of the target navigation route to the navigation system 203 at one time, without needing to send them multiple times by segment.

示例性的，如图1B所示，展示了一种目标导航路径，以图1B为例，示例性说明本实施例提供的自动驾驶引导***的引导过程：Exemplarily, as shown in FIG. 1B, a target navigation path is shown. Taking FIG. 1B as an example, the guidance process of the automatic driving guidance system provided in this embodiment is illustrated:

图1B中的A点为目标导航路径的起点，B点为目标导航路径的终点，A-C-D-E-F-B为目标导航路径；A-C为地理围栏外，是导航路径；C-D为地理围栏内，是导航路径；D-E是地理围栏外，是导航路径；E-F是地理围栏内，是导航路径；F-B是地理围栏内，是导航路径；F-G是地理围栏内，不是导航路径。Point A in Figure 1B is the starting point of the target navigation path, point B is the end point of the target navigation path, A-C-D-E-F-B is the target navigation path; A-C is outside the geo-fence, which is the navigation path; C-D is inside the geo-fence, which is the navigation path; D-E is Outside the geofence, it is the navigation path; E-F is inside the geofence, it is the navigation path; F-B is inside the geofence, it is the navigation path; F-G is inside the geofence, not the navigation path.

高精地图***202在接收到上述路段匹配结果之后，当目标车辆20从A点出发直到C点之前，向自动驾驶控制***204发出信号，表示当前在地理围栏外，自动驾驶功能无法开启，需人工驾驶车辆。当目标车辆20达到C点后，高精地图***202给自动驾驶控制***204发出驾驶指引信号，表示当前在地理围栏内，可开启自动驾驶功能，驾驶员收到提示后激活自动驾驶功能，车辆进入自动驾驶状态。在目标车辆20距离D点一定距离时，高精地图***202给自动驾驶控制***204和导航***203发出信号，即将驶出地理围栏，请人工接管驾驶车辆，人工接管后退出自动驾驶功能。目标车辆20行驶到E点的情况同C点，不再赘述。在目标车辆20距离F点一定距离时，高精地图***202给自动驾驶控制***204发出信号，前方有分叉路口，右侧岔路为导航路径，自动驾驶控制***204将控制目标车辆20提前向右变道并驶入右侧岔路FB路段。最终到达B点前一定距离时，高精地图***202给自动驾驶控制***204发出信号，即将到达目的地，请人工接管驾驶车辆。After the high-precision map system 202 receives the above road section matching result, when the target vehicle 20 starts from point A to point C, it sends a signal to the automatic driving control system 204, indicating that it is currently outside the geographic fence, and the automatic driving function cannot be turned on. Human-driven vehicles. When the target vehicle 20 reaches point C, the high-precision map system 202 sends a driving guidance signal to the automatic driving control system 204, indicating that it is currently within the geographic fence and the automatic driving function can be turned on. After the driver receives the prompt, the automatic driving function is activated. Enter the autopilot state. When the target vehicle 20 is a certain distance away from point D, the high-precision map system 202 sends a signal to the automatic driving control system 204 and the navigation system 203 that it is about to drive out of the geo-fence, please manually take over the driving of the vehicle, and then exit the automatic driving function. The situation that the target vehicle 20 travels to point E is the same as point C, and will not be repeated here. When the target vehicle 20 is a certain distance away from point F, the high-precision map system 202 sends a signal to the automatic driving control system 204. There is a bifurcated intersection ahead, and the right fork is the navigation path. The automatic driving control system 204 will control the target vehicle 20 to advance to Change lane to the right and enter the right fork road FB section. When finally arriving at a certain distance before point B, the high-precision map system 202 sends a signal to the automatic driving control system 204 that the destination is about to be reached, and please manually take over the driving of the vehicle.

本实施例的技术方案，通过云端确定目标导航路径的高精地图数据和导航地图数据的路段匹配结果，并将路段匹配结果下发至目标车辆的高精地图***和导航***，进而高精地图***可以在确定出目标车辆的当前待行驶路段后，根据路段匹配结果确定当前待行驶路段是否满足自动驾驶条件，在当前待行驶路段满足自动驾驶条件的情况下，基于高精地图数据生成驾驶指引信号发送至自动驾驶控制***，以使自动驾驶控制***根据该信号启动自动驾驶功能，并引导目标车辆的行驶，解决了高精地图没有全程道路信息的技术问题，实现了全局自动驾驶的路径规划和引导。并且，通过导航***实时显示导航地图数据和路段匹配结果，解决了高精地图缺乏交互的技术缺点，在自动驾驶功能运行过程中可以让驾驶员能够随时了解道路环境信息以及后续行驶计划，提高了自动驾驶功能的人机交互体验。In the technical solution of this embodiment, the high-precision map data of the target navigation route and the road section matching result of the navigation map data are determined through the cloud, and the road section matching result is sent to the high-precision map system and navigation system of the target vehicle, and then the high-precision map After determining the current road segment to be driven by the target vehicle, the system can determine whether the current road segment to be driven meets the automatic driving conditions according to the road segment matching results, and generate driving guidance based on high-precision map data when the current road segment to be driven meets the automatic driving conditions The signal is sent to the automatic driving control system, so that the automatic driving control system starts the automatic driving function according to the signal, and guides the driving of the target vehicle, solves the technical problem that the high-precision map does not have the whole road information, and realizes the path planning of the global automatic driving and boot. In addition, the navigation system displays the navigation map data and road section matching results in real time, which solves the technical shortcomings of the lack of interaction of high-precision maps. During the operation of the automatic driving function, the driver can keep abreast of the road environment information and follow-up driving plan, which improves Human-computer interaction experience of autonomous driving functions.

实施例二Embodiment two

本实施例在上述实施例的基础上，云端10还设置为获取目的地信息，基于目的地信息确定至少一个待选导航路径，基于至少一个待选导航路径确定目标导航路径。其中与上述实施例相同或相应的术语的解释在此不再赘述。In this embodiment, on the basis of the above embodiments, the cloud 10 is further configured to acquire destination information, determine at least one navigation route to be selected based on the destination information, and determine a target navigation route based on at least one navigation route to be selected. The explanations of terms that are the same as or corresponding to those in the foregoing embodiments are not repeated here.

云端10可以通过车辆通信部件201获取导航***203发送的目的地信息。其中，目的地信息可以是用户基于导航***203的导航界面输入的，也可以是用户在终端上输入并通过终端发送至导航***203的。The cloud 10 can acquire the destination information sent by the navigation system 203 through the vehicle communication component 201 . Wherein, the destination information may be input by the user based on the navigation interface of the navigation system 203 , or may be input by the user on the terminal and sent to the navigation system 203 through the terminal.

在一种实施方式中，云端10可以根据目标车辆20和目的地信息计算出多个待选导航路径，并对每个待选导航路径进行分析，直接确定出目标导航路径，将目标导航路径发送至目标车辆20的导航***203。例如，云端10根据用户驾驶习惯(优先高速、优先国道、避免拥堵、优先地理围栏内等)，筛选出符合用户驾驶习惯的目标导航路径；或者，根据每个待选导航路径的路径参考信息，计算出最优的目标导航路径。In one embodiment, the cloud 10 can calculate multiple navigation routes to be selected according to the target vehicle 20 and destination information, and analyze each navigation route to be selected, directly determine the target navigation route, and send the target navigation route to to the navigation system 203 of the target vehicle 20 . For example, according to the user's driving habits (high-speed priority, national highway priority, congestion avoidance, geographic fence priority, etc.), the cloud 10 screens out a target navigation path that meets the user's driving habits; or, according to the path reference information of each navigation path to be selected, Calculate the optimal target navigation path.

在另一种实施方式中，云端10可以将至少一个待选导航路径发送至导航***203，以使导航***203在导航界面上展示至少一个待选导航路径供用户选择。即，云端10还设置为根据待选导航路径的高精地图数据和导航地图数据，确定待选导航路径对应的路径参考信息，将待选导航路径和待选导航路径对应的路径参考信息发送至导航***203，并基于用户在导航***203上反馈的路径选择信息确定目标导航路径。In another embodiment, the cloud 10 may send at least one navigation route to be selected to the navigation system 203, so that the navigation system 203 displays the at least one navigation route to be selected on the navigation interface for the user to select. That is, the cloud 10 is also configured to determine the route reference information corresponding to the candidate navigation route according to the high-precision map data and the navigation map data of the candidate navigation route, and send the candidate navigation route and the route reference information corresponding to the candidate navigation route to The navigation system 203, and based on the route selection information fed back by the user on the navigation system 203, determines the target navigation route.

一实施例中，路径参考信息包括总里程数、可开启自动驾驶的路段数、可开启自动驾驶的里程数、可开启自动驾驶的里程数占比以及预计到达时间中的至少一种。或者，路径参考信息还可以包括预计行驶时间、是否包含高速行驶路段、高速路口费用信息、是否包含拥堵路段、拥堵路段的预计拥堵时间中的至少一种。In one embodiment, the route reference information includes at least one of the total mileage, the number of road sections for which automatic driving can be activated, the mileage for which automatic driving can be activated, the percentage of mileage for which automatic driving can be activated, and the estimated time of arrival. Alternatively, the route reference information may also include at least one of estimated travel time, whether a high-speed section is included, toll information at an expressway intersection, whether a congested section is included, and the estimated congestion time of the congested section.

云端10可以对每个待选导航路径的高精地图数据和导航地图数据进行匹配，进而确定出每个待选导航路径的路段匹配结果，基于每个待选导航路径的路段匹配结果得到路径参考信息。导航***203可以在导航界面上展示至少一个待选导航路径以及至少一个待选导航路径对应的路径参考信息，并获取用户输入的路径选择信息，将该路径选择信息发送至云端10，云端10根据路径选择信息确定目标导航路径。The cloud 10 can match the high-precision map data and navigation map data of each navigation route to be selected, and then determine the link matching result of each navigation route to be selected, and obtain the route reference based on the link matching result of each navigation route to be selected. information. The navigation system 203 can display at least one navigation route to be selected and the route reference information corresponding to the at least one navigation route to be selected on the navigation interface, obtain the route selection information input by the user, and send the route selection information to the cloud 10, and the cloud 10 according to The routing information determines the target navigation path.

在该实施方式中，可以通过云端确定出每个待选导航路径的路径参考信息，并发送至导航***进行显示，以为用户提供多个路径的参考信息，帮助用户快速选择出满足驾驶需求的路径，提高用户的驾驶体验感。In this embodiment, the route reference information of each navigation route to be selected can be determined through the cloud, and sent to the navigation system for display, so as to provide users with reference information of multiple routes and help users quickly select a route that meets driving needs , to improve the user's driving experience.

在本实施例中，导航***203还设置为接收云端10下发的目标车辆20的定位信息，基于路段匹配结果确定驾驶切换节点，基于定位信息以及驾驶切换节点在导航界面上显示驾驶切换提示信息。In this embodiment, the navigation system 203 is also configured to receive the positioning information of the target vehicle 20 issued by the cloud 10, determine the driving switching node based on the road section matching result, and display the driving switching prompt information on the navigation interface based on the positioning information and the driving switching node .

驾驶切换节点包括需将自动驾驶切换为人工驾驶的节点，以及需将人工驾驶切换为自动驾驶的切换。驾驶切换节点可以基于路段匹配结果预先确定，可以根据路段匹配结果中每个路段的地理围栏标识，确定驾驶切换节点。示例性的，驾驶切换节点可以是路段末端，也可以是路段中临近下一路段一定距离的点。例如，路段a可自动驾驶，路段b不能自动驾驶，则路段a的末端为驾驶切换节点，或者，路段a中与路段b满足预设距离的点为驾驶切换节点。The driving switch node includes the node that needs to switch from automatic driving to manual driving, and the switch that needs to switch from manual driving to automatic driving. The driving switching node can be determined in advance based on the road segment matching result, and the driving switching node can be determined according to the geographical fence identifier of each road segment in the road segment matching result. Exemplarily, the driving switching node may be the end of a road segment, or a point in the road segment that is a certain distance away from the next road segment. For example, if road section a can be driven automatically, but road section b cannot be driven automatically, then the end of road section a is the driving switching node, or the point in road section a that meets the preset distance from road section b is the driving switching node.

在该实施方式中，导航***203在确定出驾驶切换节点后，可以根据目标车辆20的定位信息以及驾驶切换节点，在导航界面上显示驾驶切换提示信息。例如，在目标车辆20的当前位置与驾驶切换节点之间的距离小于预设提醒距离时，在导航界面上显示驾驶切换提示信息，以提醒用户即将切换驾驶模式。In this embodiment, after determining the driving switching node, the navigation system 203 may display driving switching prompt information on the navigation interface according to the positioning information of the target vehicle 20 and the driving switching node. For example, when the distance between the current location of the target vehicle 20 and the driving switching node is less than the preset reminder distance, a driving switching prompt message is displayed on the navigation interface to remind the user that the driving mode is about to be switched.

该实施方式通过导航***确定出每个驾驶切换节点，并根据车辆的当前位置和驾驶切换节点显示驾驶切换提示信息，以提示用户驾驶模式即将切换，提高了用户的驾驶体验感以及车辆的驾驶安全性。In this embodiment, each driving switching node is determined by the navigation system, and the driving switching prompt information is displayed according to the current position of the vehicle and the driving switching node to remind the user that the driving mode is about to switch, which improves the driving experience of the user and the driving safety of the vehicle sex.

本实施例还提供一种自动驾驶引导***的内部交互过程，示例性的，如图2所示，展示了一种自动驾驶引导***的交互示意图。如图2所示，云端中存储有高精地图数据、导航地图数据、高精地图数据与导航地图数据的预设映射表。云端通过车辆通信部件向导航***发送的数据包括：定位信息、导航地图数据更新、在线导航算路数据、路段匹配结果；云端通过车辆通信部件向高精地图***发送的数据包括：定位信息、高精地图数据更新、在线导航算路数据、高精地图数据更新、路段匹配结果；高精地图***通过车辆通信部件向云端发送的数据包括：路段匹配结果请求；导航***通过车辆通信部件向云端发送的数据包括：导航目的地、路径选择信息、路段匹配结果请求；高精地图***向导航***发送的数据包括导航路径请求(用于请求目标导航路径)，导航***向高精地图***发送的数据包括导航路径信息(目标导航路径)。This embodiment also provides an internal interaction process of the automatic driving guidance system. For example, as shown in FIG. 2 , it shows a schematic diagram of the interaction of the automatic driving guidance system. As shown in FIG. 2 , HD map data, navigation map data, and a preset mapping table of HD map data and navigation map data are stored in the cloud. The data sent by the cloud to the navigation system through the vehicle communication component includes: positioning information, navigation map data update, online navigation route calculation data, and road section matching results; the data sent by the cloud to the high-precision map system through the vehicle communication component includes: positioning information, high-precision Refined map data update, online navigation route calculation data, high-precision map data update, road section matching results; the data sent by the high-precision map system to the cloud through the vehicle communication component includes: road section matching result request; the navigation system sends to the cloud through the vehicle communication component The data includes: navigation destination, route selection information, road section matching result request; the data sent by the high-precision map system to the navigation system includes the navigation route request (for requesting the target navigation route), and the data sent by the navigation system to the high-precision map system Includes navigation path information (target navigation path).

结合图2，对本申请提供的自动驾驶引导***的内部交互过程进行示例性说明，包括：In conjunction with Figure 2, the internal interaction process of the automatic driving guidance system provided by this application is illustrated, including:

S1：导航***可以向车辆通信部件发送导航目的地，车辆通信部件将导航目的地发送至云端；其中，导航***可以通过以太网或者控制器域网(Controller Area Network，CAN)总线与车辆通信部件进行数据传输。S1: The navigation system can send the navigation destination to the vehicle communication component, and the vehicle communication component can send the navigation destination to the cloud; among them, the navigation system can communicate with the vehicle communication component through Ethernet or Controller Area Network (CAN) bus for data transfer.

S2：云端根据目标车辆的定位信息以及导航目的地，确定出多个待选导航路径，并将每个待选导航路径的高精地图数据与导航地图数据进行匹配，得到该待选导航路径的路径参考信息，发送至车辆通信部件，以使车辆通信部件将其转发至导航***。S2: The cloud determines multiple navigation paths to be selected according to the positioning information of the target vehicle and the navigation destination, and matches the high-precision map data of each navigation path to be selected with the navigation map data to obtain the navigation path to be selected. The route reference information is sent to the vehicle communication unit so that the vehicle communication unit forwards it to the navigation system.

S3：导航***确定用户的路径选择信息，将路径选择信息发送至车辆通信部件，车辆通信部件将其转发至云端；并且，导航***和高精地图***通过车辆通信部件向云端发送路段匹配结果请求。S3: The navigation system determines the route selection information of the user, sends the route selection information to the vehicle communication component, and the vehicle communication component forwards it to the cloud; and, the navigation system and the high-precision map system send a road segment matching result request to the cloud through the vehicle communication component .

S4：云端确定目标导航路径，并将定位信息、目标导航路径的路段匹配结果、高精地图数据发送至车辆通信部件，车辆通信部件将其转发至高精地图***；同时，将定位信息、目标导航路径的路段匹配结果、导航地图数据、在线导航算路数据发送至车辆通信部件，车辆通信部件将其转发至导航***。S4: The cloud determines the target navigation path, and sends the positioning information, road segment matching results of the target navigation path, and high-precision map data to the vehicle communication component, and the vehicle communication component forwards it to the high-precision map system; at the same time, the positioning information, target navigation The road segment matching results of the path, navigation map data, and online navigation route calculation data are sent to the vehicle communication component, which forwards them to the navigation system.

S5：高精地图***向导航***发送导航路径请求，并根据定位信息、路段匹配结果、高精地图数据，生成自动驾驶指引信号发送至自动驾驶控制***，或者，生成人工驾驶切换信号发送至导航***；其中，高精地图***与自动驾驶控制***可以通过以太网或者CAN总线传输数据；导航***实时将导航地图数据和路段匹配结果在导航界面上进行渲染显示，或者，将定位信息、路段匹配结果、导航地图数据、在线导航算路数据，在导航界面上进行渲染显示。S5: The high-precision map system sends a navigation route request to the navigation system, and generates an automatic driving guidance signal based on the positioning information, road section matching results, and high-precision map data and sends it to the automatic driving control system, or generates a manual driving switching signal and sends it to the navigation system system; among them, the high-precision map system and the automatic driving control system can transmit data through Ethernet or CAN bus; the navigation system renders and displays the navigation map data and road segment matching results on the navigation interface in real time, or, the positioning information and road segment matching Results, navigation map data, and online navigation route calculation data are rendered and displayed on the navigation interface.

本实施例的技术方案，通过云端获取目的地信息，并根据目的地信息确定出待选导航路径，进而从多个待选导航路径中确定出目标导航路径，实现了目标导航路径的自动确定，提高了用户的驾驶体验感。In the technical solution of this embodiment, the destination information is obtained through the cloud, and the navigation path to be selected is determined according to the destination information, and then the target navigation path is determined from a plurality of navigation paths to be selected, thereby realizing the automatic determination of the target navigation path, Improve the user's driving experience.

实施例三Embodiment Three

图3为本申请实施例三提供的一种自动驾驶引导方法的流程示意图，本实施例可适用于控制并引导车辆的自动驾驶的情况，该方法应用于自动驾驶引导***，该方法包括：Fig. 3 is a schematic flow chart of an automatic driving guidance method provided in Embodiment 3 of the present application. This embodiment is applicable to the situation of controlling and guiding the automatic driving of a vehicle. This method is applied to an automatic driving guidance system, and the method includes:

S310、云端根据目标导航路径对应的高精地图数据和导航地图数据，确定所述目标导航路径的路段匹配结果，并通过车辆通信部件将目标导航路径对应的高精地图数据和所述路段匹配结果发送至高精地图***，将所述目标导航路径对应的导航地图数据和所述路段匹配结果发送至导航***。S310. The cloud determines the link matching result of the target navigation path according to the high-precision map data and navigation map data corresponding to the target navigation path, and uses the vehicle communication component to match the high-precision map data corresponding to the target navigation path with the link matching result Send to a high-precision map system, and send the navigation map data corresponding to the target navigation route and the matching result of the road section to the navigation system.

S320、所述高精地图***确定目标车辆的当前待行驶路段，基于所述路段匹配结果确定所述当前待行驶路段是否满足自动驾驶条件，在当前待行驶路段满足自动驾驶条件的情况下，基于所述高精地图数据生成所述当前待行驶路段的驾驶指引信号发送至自动驾驶控制***。S320. The high-precision map system determines the current road segment to be driven by the target vehicle, and determines whether the current road segment to be driven meets the automatic driving condition based on the road segment matching result. If the current road segment to be driven meets the automatic driving condition, based on The high-precision map data generates a driving guidance signal for the current road section to be driven and sends it to an automatic driving control system.

S330、所述自动驾驶控制***基于所述驾驶指引信号启动所述目标车辆的自动驾驶功能，并基于所述驾驶指引信号引导所述目标车辆的行驶。S330. The automatic driving control system starts the automatic driving function of the target vehicle based on the driving guidance signal, and guides the driving of the target vehicle based on the driving guidance signal.

所述导航地图数据和所述路段匹配结果在所述导航***的导航界面上渲染显示。The navigation map data and the link matching result are rendered and displayed on the navigation interface of the navigation system.

一实施例中，所述方法还包括：In one embodiment, the method also includes:

云端获取目的地信息，基于所述目的地信息确定至少一个待选导航路径，基于至少一个所述待选导航路径确定目标导航路径。The cloud acquires destination information, determines at least one navigation route candidate based on the destination information, and determines a target navigation route based on the at least one navigation route candidate.

云端根据所述待选导航路径的高精地图数据和导航地图数据确定所述待选导航路径对应的路径参考信息，将所述待选导航路径和所述待选导航路径对应的路径参考信息发送至所述导航***，并基于用户在所述导航***上反馈的路径选择信息确定目标导航路径。The cloud determines the route reference information corresponding to the candidate navigation route according to the high-precision map data and the navigation map data of the candidate navigation route, and sends the candidate navigation route and the route reference information corresponding to the candidate navigation route to the navigation system, and determine the target navigation route based on the route selection information fed back by the user on the navigation system.

一实施例中，所述根据目标导航路径对应的高精地图数据和导航地图数据，确定所述目标导航路径的路段匹配结果，包括：In one embodiment, the determining the link matching result of the target navigation path according to the high-precision map data and navigation map data corresponding to the target navigation path includes:

通过数据匹配单元确定目标导航路径对应的多个导航显示路段，并确定每个导航显示路段的导航地图数据以及高精地图数据，基于每个导航显示路段的导航地图数据和高精地图数据生成该导航显示路段的路段匹配结果。The data matching unit determines multiple navigation display sections corresponding to the target navigation path, and determines the navigation map data and high-precision map data of each navigation display section, and generates the navigation map data and high-precision map data based on each navigation display section. The navigation displays the segment matching results for the segment.

一实施例中，所述确定每个导航显示路段的高精地图数据，包括：In one embodiment, the determination of the high-precision map data of each navigation display section includes:

基于预设映射表以及所述导航显示路段的导航地图数据，确定所述导航显示路段的高精地图数据，其中，所述预设映射表包括多个路段的导航地图数据与高精地图数据的关联关系。Based on the preset mapping table and the navigation map data of the navigation display road section, determine the high-precision map data of the navigation display road section, wherein the preset mapping table includes the navigation map data of multiple road sections and the high-precision map data. connection relation.

一实施例中，所述路段匹配结果包括地理围栏标识和导航路径标识，所述基于所述路段匹配结果确定所述当前待行驶路段是否满足自动驾驶条件，包括：In an embodiment, the road segment matching result includes a geo-fence identifier and a navigation route identifier, and determining whether the current road segment to be driven meets the automatic driving condition based on the road segment matching result includes:

根据所述当前待行驶路段的地理围栏标识和导航路径标识，确定所述当前待行驶路段是否满足自动驾驶条件。According to the geo-fence identifier and the navigation route identifier of the current road segment to be driven, it is determined whether the current road segment to be driven satisfies the automatic driving condition.

高精地图***在确定出所述当前待行驶路段不满足自动驾驶条件时，向所述导航***发送人工驾驶切换信号，所述导航***基于所述人工驾驶切换信号，在所述导航界面上显示人工驾驶提示信息。When the high-precision map system determines that the current road segment to be driven does not meet the automatic driving conditions, it sends a manual driving switching signal to the navigation system, and the navigation system displays on the navigation interface based on the manual driving switching signal Manual driving prompt information.

导航***接收所述云端下发的所述目标车辆的定位信息，基于所述路段匹配结果确定驾驶切换节点，基于所述定位信息以及所述驾驶切换节点在所述导航界面上显示驾驶切换提示信息。The navigation system receives the positioning information of the target vehicle sent by the cloud, determines a driving switching node based on the road section matching result, and displays driving switching prompt information on the navigation interface based on the positioning information and the driving switching node .

Claims

一种自动驾驶引导***，包括云端和目标车辆，所述目标车辆包括车辆通信部件、高精地图***、导航***以及自动驾驶控制***；其中，An automatic driving guidance system, including a cloud and a target vehicle, the target vehicle includes a vehicle communication component, a high-precision map system, a navigation system, and an automatic driving control system; wherein,

所述云端，通过所述车辆通信部件与所述高精地图***和所述导航***通信连接，设置为根据目标导航路径对应的高精地图数据和导航地图数据确定所述目标导航路径的路段匹配结果，并通过所述车辆通信部件将所述目标导航路径对应的高精地图数据和所述路段匹配结果发送至所述高精地图***，将所述目标导航路径对应的导航地图数据和所述路段匹配结果发送至所述导航***；The cloud is connected to the high-precision map system and the navigation system through the vehicle communication component, and is configured to determine the road segment matching of the target navigation path according to the high-precision map data and navigation map data corresponding to the target navigation path As a result, the high-precision map data corresponding to the target navigation route and the road section matching result are sent to the high-precision map system through the vehicle communication component, and the navigation map data corresponding to the target navigation route and the The road section matching result is sent to the navigation system;

所述高精地图***，设置为确定所述目标车辆的当前待行驶路段，基于所述路段匹配结果确定所述当前待行驶路段是否满足自动驾驶条件，在所述当前待行驶路段满足自动驾驶条件的情况下，基于所述高精地图数据生成所述当前待行驶路段的驾驶指引信号发送至所述自动驾驶控制***；The high-precision map system is configured to determine the current road segment to be driven by the target vehicle, determine whether the current road segment to be driven meets the automatic driving condition based on the road segment matching result, and satisfy the automatic driving condition on the current road segment to be driven In the case of , generate a driving guidance signal for the current road segment to be driven based on the high-precision map data and send it to the automatic driving control system;

所述自动驾驶控制***，设置为基于所述驾驶指引信号启动所述目标车辆的自动驾驶功能，并基于所述驾驶指引信号引导所述目标车辆的行驶；The automatic driving control system is configured to activate the automatic driving function of the target vehicle based on the driving guidance signal, and guide the driving of the target vehicle based on the driving guidance signal;

所述导航***，设置为将所述导航地图数据和所述路段匹配结果在导航界面上进行渲染显示。The navigation system is configured to render and display the navigation map data and the link matching result on a navigation interface.
根据权利要求1所述的***，其中，所述云端还设置为获取目的地信息，基于所述目的地信息确定至少一个待选导航路径，基于所述至少一个待选导航路径确定所述目标导航路径。The system according to claim 1, wherein the cloud is further configured to obtain destination information, determine at least one navigation route to be selected based on the destination information, and determine the target navigation based on the at least one navigation route to be selected. path.
根据权利要求2所述的***，其中，所述云端还设置为根据每个待选导航路径的高精地图数据和导航地图数据确定所述每个待选导航路径对应的路径参考信息，将所述至少一个待选导航路径和所述至少一个待选导航路径对应的路径参考信息发送至所述导航***，并基于用户在所述导航***上反馈的路径选择信息确定所述目标导航路径。The system according to claim 2, wherein the cloud is further configured to determine the route reference information corresponding to each navigation route to be selected according to the high-precision map data and navigation map data of each navigation route to be selected, and The at least one candidate navigation route and the route reference information corresponding to the at least one candidate navigation route are sent to the navigation system, and the target navigation route is determined based on the route selection information fed back by the user on the navigation system.
根据权利要求3所述的***，其中，所述路径参考信息包括总里程数、可开启自动驾驶的路段数、可开启自动驾驶的里程数、可开启自动驾驶的里程数占比以及预计到达时间中的至少一种。The system according to claim 3, wherein the route reference information includes the total mileage, the number of road sections on which automatic driving can be activated, the mileage on which automatic driving can be activated, the percentage of mileage on which automatic driving can be activated, and the estimated time of arrival at least one of the
根据权利要求1所述的***，其中，所述云端包括数据匹配单元，所述数据匹配单元设置为确定所述目标导航路径对应的多个导航显示路段，并确定每个导航显示路段的导航地图数据以及高精地图数据，基于每个导航显示路段的导航地图数据和高精地图数据生成所述每个导航显示路段的路段匹配结果。The system according to claim 1, wherein the cloud includes a data matching unit, the data matching unit is configured to determine a plurality of navigation display sections corresponding to the target navigation path, and determine a navigation map of each navigation display section data and high-precision map data, and generate a link matching result for each navigation display link based on the navigation map data and high-precision map data of each navigation display link.
根据权利要求5所述的***，其中，所述数据匹配单元设置为通过如下方式确定每个导航显示路段的高精地图数据：基于预设映射表以及每个导航显示路段的导航地图数据，确定所述每个导航显示路段的高精地图数据，其中，所述预设映射表包括多个路段的导航地图数据与高精地图数据的关联关系。The system according to claim 5, wherein the data matching unit is configured to determine the high-precision map data of each navigation display road section in the following manner: based on the preset mapping table and the navigation map data of each navigation display road section, determine Each of the navigation displays high-precision map data of road segments, wherein the preset mapping table includes associations between navigation map data and high-definition map data of multiple road segments.
根据权利要求5所述的***，其中，所述路段匹配结果包括地理围栏标识和导航路径标识，所述高精地图***设置为通过如下方式基于所述路段匹配结果确定所述当前待行驶路段是否满足自动驾驶条件：根据所述当前待行驶路段的地理围栏标识和导航路径标识，确定所述当前待行驶路段是否满足自动驾驶条件。The system according to claim 5, wherein the road section matching result includes a geo-fence identifier and a navigation route identifier, and the high-precision map system is configured to determine whether the current road section to be driven is based on the road section matching result in the following manner: Satisfying the automatic driving condition: determining whether the current road section to be driven meets the automatic driving condition according to the geo-fence identification and the navigation route identification of the current road section to be driven.
根据权利要求1所述的***，其中，所述高精地图***还设置为在确定出所述当前待行驶路段不满足自动驾驶条件的情况下，向所述导航***发送人工驾驶切换信号，所述导航***还设置为基于所述人工驾驶切换信号，在所述导航界面上显示人工驾驶提示信息。The system according to claim 1, wherein the high-precision map system is further configured to send a manual driving switching signal to the navigation system when it is determined that the current road segment to be driven does not meet the automatic driving conditions, so The navigation system is further configured to display manual driving prompt information on the navigation interface based on the manual driving switching signal.
根据权利要求1所述的***，其中，所述导航***还设置为接收所述云端下发的所述目标车辆的定位信息，基于所述路段匹配结果确定驾驶切换节点，基于所述定位信息以及所述驾驶切换节点在所述导航界面上显示驾驶切换提示信息。The system according to claim 1, wherein the navigation system is further configured to receive the positioning information of the target vehicle issued by the cloud, determine a driving switching node based on the road section matching result, and determine the driving switching node based on the positioning information and The driving switching node displays driving switching prompt information on the navigation interface.
一种自动驾驶引导方法，包括：An automatic driving guidance method, comprising:

云端根据目标导航路径对应的高精地图数据和导航地图数据，确定所述目标导航路径的路段匹配结果，并通过车辆通信部件将目标导航路径对应的高精地图数据和所述路段匹配结果发送至高精地图***，将所述目标导航路径对应的导航地图数据和所述路段匹配结果发送至导航***；The cloud determines the link matching result of the target navigation path according to the high-precision map data and the navigation map data corresponding to the target navigation path, and sends the high-precision map data corresponding to the target navigation path and the link matching result to the high-speed network through the vehicle communication component. The fine map system sends the navigation map data corresponding to the target navigation path and the matching result of the road section to the navigation system;

所述高精地图***确定目标车辆的当前待行驶路段，基于所述路段匹配结果确定所述当前待行驶路段是否满足自动驾驶条件，在所述当前待行驶路段满足自动驾驶条件的情况下，基于所述高精地图数据生成所述当前待行驶路段的驾驶指引信号发送至自动驾驶控制***；The high-precision map system determines the current road segment to be driven by the target vehicle, and determines whether the current road segment to be driven meets the automatic driving condition based on the road segment matching result, and if the current road segment to be driven meets the automatic driving condition, based on the The high-precision map data generates the driving guidance signal of the current road section to be driven and sends it to the automatic driving control system;

所述自动驾驶控制***基于所述驾驶指引信号启动所述目标车辆的自动驾驶功能，并基于所述驾驶指引信号引导所述目标车辆的行驶；The automatic driving control system activates the automatic driving function of the target vehicle based on the driving guidance signal, and guides the driving of the target vehicle based on the driving guidance signal;

其中，所述导航地图数据和所述路段匹配结果在所述导航***的导航界面上渲染显示。Wherein, the navigation map data and the road section matching result are rendered and displayed on the navigation interface of the navigation system.