Vehicle navigation route control method, device, equipment and storage medium

Abstract

The present invention relates to the field of vehicle control technology, and discloses a vehicle navigation route control method, device, equipment and storage medium. The method comprises: determining a target lane turning angle determination interval according to a current lane where a target vehicle is located and a total lane of a target road; calculating a current cumulative steering angle according to current steering information of the target vehicle; when the current guidance route is the target route, controlling the target vehicle to travel according to a preset navigation route according to the current cumulative steering angle and the target lane turning angle determination interval; because the present invention calculates the current cumulative steering angle of the target vehicle through the current steering information, and then controls the driving route of the target vehicle according to the current cumulative steering angle and the target lane turning angle determination interval, compared with the prior art that identifies an elevated road and plans the driving route of a vehicle through devices such as a barometer and a gyroscope, the accuracy of controlling the vehicle navigation route can be effectively improved, thereby improving the driving experience of the user.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a vehicle navigation route control method, device, equipment and storage medium. Background Art

[0002] With the gradual popularization of vehicles, vehicle travel has become the best way for people to go out. Due to the complex traffic conditions, most people are accustomed to using mobile phone navigation to determine the best driving route and avoid violations. However, it is easy to make mistakes in the navigation process, especially when there is an elevated road ahead. The elevated problem refers to the area such as overpasses and viaducts. Only GPS coordinates cannot distinguish between the bridge and the underpass. At present, high-precision navigation has not been mass-produced and applied in vehicles, and it is impossible to realize the lane-level judgment of the vehicle. The elevated road is adjacent to and parallel to the road next to it. If the driver goes wrong, he must reach the fork such as the turn to re-plan the route, which leads to a poor user experience; the current barometer, gyroscope and other devices have a low accuracy rate in identifying elevated roads, and the main problems are as follows:

[0003] 1. Barometer solution: air pressure will change significantly with weather changes; at the same time and place, two devices of the same model may have completely different air pressure values. Therefore, it is difficult to ensure accuracy when comparing the absolute value of air pressure to determine whether the elevated road is up or down. 2. Gyroscope solution: The gyroscope is built into the vehicle computer, and the gyroscope data is used to determine whether there is z-axis acceleration, thereby determining whether the elevated road is on or off. However, the slope of the elevated roads in the city is small and changes slowly, and the z-axis acceleration is small, making it difficult for the gyroscope device to identify. Therefore, identifying the elevated road in the above manner causes deviations in the navigation route that ultimately controls the vehicle's travel, resulting in a poor driving experience for the user.

[0004] The above contents are only used to assist in understanding the technical solution of the present invention and do not constitute an admission that the above contents are prior art. Summary of the invention

[0005] The main purpose of the present invention is to provide a vehicle navigation route control method, device, equipment and storage medium, aiming to solve the technical problems of low accuracy in controlling vehicle navigation routes and poor driving experience of users in the prior art.

[0006] To achieve the above object, the present invention provides a vehicle navigation route control method, the vehicle navigation route control method comprising the following steps:

[0007] Get the current lane where the target vehicle is located and the total lanes of the target road;

[0008] Determine a target lane turning angle determination interval according to the current lane and the total lanes of the target road;

[0009] Acquire current steering information of the target vehicle, and calculate a current cumulative steering angle according to the current steering information;

[0010] When the current guidance route is the target route, the target vehicle is controlled to travel according to a preset navigation route according to the current accumulated steering angle and the target lane turning angle determination interval.

[0011] Optionally, determining a target lane turning angle determination interval according to the current lane and the total lanes of the target road includes:

[0012] Acquire the location information of the elevated road, and extract the boundary lane of the total lane of the target road according to the location information;

[0013] Obtaining a lane quantity difference according to the current lane and the boundary lane;

[0014] The lane number difference is queried through a preset lane crossing angle mapping table according to the current speed of the target vehicle to obtain a target lane angle determination interval.

[0015] Optionally, the acquiring current steering information of the target vehicle and calculating a current cumulative steering angle according to the current steering information includes:

[0016] Acquire current steering information of the target vehicle, and obtain a unit steering angle and a steering quantity according to the current steering information;

[0017] The unit steering angle and the number of steerings are calculated to obtain a current cumulative steering angle of the target vehicle.

[0018] Optionally, the target lane turning angle determination interval includes a lane right turning angle determination interval and a lane left turning angle determination interval;

[0019] When the current guidance route is the target route, controlling the target vehicle to travel along the preset navigation route according to the current cumulative steering angle and the target lane turning angle determination interval includes:

[0020] When the current guidance route is the target route, determining whether the current cumulative steering angle is greater than or equal to a lane right turn angle determination interval;

[0021] If the current accumulated steering angle is less than the lane right turn angle determination interval, determining whether the current accumulated steering angle is greater than or equal to the lane left turn angle determination interval;

[0022] If the current accumulated steering angle is less than the lane left turn angle determination interval, determining whether the current lane where the target vehicle is located is a reference lane;

[0023] If the current lane is not a reference lane, the target vehicle is controlled to travel according to the current guidance route.

[0024] Optionally, when the current guidance route is the target route, after determining whether the current cumulative steering angle is greater than or equal to the lane right turn angle determination interval, the method further includes:

[0025] If the current cumulative steering angle is greater than or equal to the lane right turn angle determination interval, obtaining first road surface information;

[0026] A first navigation route is generated according to the current road surface information and a preset navigation system, and the target vehicle is controlled to travel along the first navigation route.

[0027] Optionally, after obtaining the current steering information of the target vehicle and calculating the current cumulative steering angle according to the current steering information, the method further includes:

[0028] When the current guidance route is not the target route, determining whether the current accumulated steering angle is greater than or equal to a lane right turn angle determination interval;

[0029] If the current accumulated steering angle is less than the lane right turn angle determination interval, determining whether the current accumulated steering angle is greater than or equal to the lane left turn angle determination interval;

[0030] If the current accumulated steering angle is greater than or equal to the lane left turn angle determination interval, obtaining second road surface information;

[0031] A second navigation route is generated according to the current road surface information and a preset navigation system, and the target vehicle is controlled to travel along the second navigation route.

[0032] Optionally, if the current cumulative steering angle is less than the lane right turn angle determination interval, after determining whether the current cumulative steering angle is greater than or equal to the lane left turn angle determination interval, the method further includes:

[0033] If the current accumulated steering angle is less than the lane left turn angle determination interval, determining whether the current lane where the target vehicle is located is a reference lane;

[0034] If the current lane is not the reference lane, a second navigation route is generated according to the current road surface information and the preset navigation system, and the target vehicle is controlled to travel along the second navigation route.

[0035] In addition, to achieve the above-mentioned purpose, the present invention also proposes a vehicle navigation route control device, the vehicle navigation route control device comprising:

[0036] An acquisition module, used to acquire the current lane where the target vehicle is located and the total lanes of the target road;

[0037] A determination module, used to determine a target lane turning angle determination interval according to the current lane and the total lanes of the target road;

[0038] A calculation module, used to obtain the current steering information of the target vehicle and calculate the current cumulative steering angle according to the current steering information;

[0039] The control module is used to control the target vehicle to travel along a preset navigation route according to the current accumulated steering angle and the target lane turning angle determination interval when the current guidance route is the target route.

[0040] In addition, to achieve the above-mentioned purpose, the present invention also proposes a vehicle navigation route control device, which includes: a memory, a processor, and a vehicle navigation route control program stored in the memory and executable on the processor, and the vehicle navigation route control program is configured to implement the vehicle navigation route control method as described above.

[0041] In addition, to achieve the above-mentioned purpose, the present invention also proposes a storage medium, on which a vehicle navigation route control program is stored, and when the vehicle navigation route control program is executed by a processor, the vehicle navigation route control method as described above is implemented.

[0042] The vehicle navigation route control method proposed in the present invention obtains the current lane where the target vehicle is located and the total lane of the target road; determines the target lane turning angle determination interval according to the current lane and the total lane of the target road; obtains the current steering information of the target vehicle, and calculates the current cumulative steering angle according to the current steering information; when the current guidance route is the target route, controls the target vehicle to travel according to the preset navigation route according to the current cumulative steering angle and the target lane turning angle determination interval; because the present invention calculates the current cumulative steering angle of the target vehicle through the current steering information, and then controls the driving route of the target vehicle according to the current cumulative steering angle and the target lane turning angle determination interval, compared with the prior art that identifies the elevated road and plans the driving route of the vehicle through devices such as a barometer and a gyroscope, the accuracy of controlling the vehicle navigation route can be effectively improved, thereby improving the driving experience of the user. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a structural diagram of a vehicle navigation route control device in a hardware operating environment involved in an embodiment of the present invention;

[0044] Figure 2 A schematic diagram of a flow chart of a first embodiment of a vehicle navigation route control method of the present invention;

[0045] Figure 3 A schematic flow chart of a second embodiment of a vehicle navigation route control method according to the present invention;

[0046] Figure 4 A schematic diagram of a flow chart of a third embodiment of a vehicle navigation route control method of the present invention;

[0047] Figure 5 A schematic diagram of overall control logic of an embodiment of a vehicle navigation route control method of the present invention;

[0048] Figure 6 Schematic diagram of functional modules of the first embodiment of the vehicle navigation route control device of the present invention.

[0049] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0050] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0051] Reference Figure 1 , Figure 1 A schematic diagram of the structure of a vehicle navigation route control device in a hardware operating environment according to an embodiment of the present invention.

[0052] like Figure 1 As shown, the vehicle navigation route control device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (Wireless-Fidelity, Wi-Fi) interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM) memory, or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk memory. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0053] Those skilled in the art will understand that Figure 1 The structure shown in the figure does not constitute a limitation on the vehicle navigation route control device, and may include more or less components than those shown in the figure, or combine certain components, or arrange the components differently.

[0054] like Figure 1 As shown, the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module, and a vehicle navigation route control program.

[0055] exist Figure 1 In the vehicle navigation route control device shown, the network interface 1004 is mainly used for data communication with the network integration platform workstation; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the vehicle navigation route control device of the present invention can be set in the vehicle navigation route control device, and the vehicle navigation route control device calls the vehicle navigation route control program stored in the memory 1005 through the processor 1001, and executes the vehicle navigation route control method provided by the embodiment of the present invention.

[0056] Based on the above hardware structure, an embodiment of a vehicle navigation route control method of the present invention is proposed.

[0057] Reference Figure 2 , Figure 2 FIG. 1 is a flow chart of a first embodiment of a vehicle navigation route control method according to the present invention.

[0058] In a first embodiment, the vehicle navigation route control method comprises the following steps:

[0059] Step S10, obtaining the current lane where the target vehicle is located and the total lanes of the target road.

[0060] It should be noted that the executor of this embodiment is a vehicle navigation route control device, and may also be other devices that can achieve the same or similar functions, such as vehicle-mounted devices, etc. This embodiment does not limit this. In this embodiment, a vehicle-mounted device is used as an example for explanation.

[0061] It should be understood that the current lane refers to the lane in which the target vehicle is traveling. The current lane can be any lane on the target road. The current lane can be identified by a camera device or located by a navigation system. This embodiment does not limit this and uses camera device identification as an example for explanation.

[0062] It can be understood that the total number of lanes of the target road refers to the total number of lanes on the road on which the target vehicle is traveling. The total number of lanes of the target road emphasizes the number of lanes in the same direction as the target vehicle's travel. For example, Road A has a total of 8 lanes, and a dividing strip is set at the boundary between the 4th and 5th roads, that is, the first 4 lanes are lanes in the opposite direction of the target vehicle's travel, and the last 4 lanes are in the same direction as the target vehicle's travel. At this time, the total number of lanes of the target road is 4.

[0063] Step S20: determining a target lane turning angle determination interval according to the current lane and the total lanes of the target road.

[0064] It should be understood that the target lane angle determination interval refers to the interval for determining whether the target vehicle's turning angle is changing lanes. That is, when the target vehicle's current turning angle exceeds the target lane angle determination interval, it indicates that the user's driving intention is to cross the lane and change lanes. For example, the target vehicle B has a current turning angle of 18 degrees and is intended to cross lane 1. The target lane angle determination interval for crossing lane 1 is 15 degrees-20 degrees. At this time, the current turning angle is within the target lane angle determination interval.

[0065] It can be understood that the target lane determination interval is determined by the current lane and the total lanes of the target road. Specifically, the number of lanes that the target vehicle needs to cross to travel from the current lane to the boundary lane is determined by the current lane and the total lanes of the target road, that is, the lane number difference, and the target lane turning angle determination interval is determined by the lane number difference. Since the target vehicle is strongly related to the elevated road and the current position when crossing the lane, that is, when the elevated road is on the left side of the target vehicle, the boundary lane is the left lane of the total lane of the target road. Conversely, when the elevated road is on the right side of the target vehicle, the boundary lane is the right lane of the total lane of the target road.

[0066] Step S30, obtaining current steering information of the target vehicle, and calculating a current cumulative steering angle according to the current steering information.

[0067] It should be understood that the current steering information refers to the information of the target vehicle turning during driving, and the current cumulative steering angle refers to the angle at which the target vehicle turns from the current lane to the target lane, which is obtained by accumulating each steering angle.

[0068] Further, step S30 includes: obtaining current steering information of the target vehicle, and obtaining a unit steering angle and a steering quantity according to the current steering information; and calculating the unit steering angle and the steering quantity to obtain a current cumulative steering angle of the target vehicle.

[0069] It can be understood that the unit turning angle refers to the turning angle of the target vehicle across a lane, and the number of turns refers to the number of turns the target vehicle makes from the current lane to the target lane. The current cumulative turning angle is calculated by the unit turning angle and the number of turns of the target vehicle. For example, if the unit turning angle of the target vehicle is 12 degrees and the number of turns is 3, the current cumulative turning angle is 36 degrees.

[0070] Step S40, when the current guidance route is the target route, controlling the target vehicle to travel along a preset navigation route according to the current accumulated steering angle and the target lane turning angle determination interval.

[0071] It can be understood that the target route refers to the route that the target vehicle needs to travel, and the current guidance route refers to the route navigated by the navigation system. The target route can be an elevated route. When the current guidance route is the target route, it is necessary to determine whether the current cumulative steering angle is greater than or equal to the maximum value of the target lane turning angle determination interval. If so, the vehicle will travel according to the current guidance route. Otherwise, it indicates that the vehicle is driving incorrectly and is not traveling according to the planned route. A new navigation route needs to be regenerated based on the current road surface information.

[0072] This embodiment obtains the current lane where the target vehicle is located and the total lane of the target road; determines the target lane turning angle determination interval according to the current lane and the total lane of the target road; obtains the current steering information of the target vehicle, and calculates the current cumulative steering angle according to the current steering information; when the current guidance route is the target route, controls the target vehicle to travel according to the preset navigation route according to the current cumulative steering angle and the target lane turning angle determination interval; since this embodiment calculates the current cumulative steering angle of the target vehicle through the current steering information, and then controls the target vehicle's driving route according to the current cumulative steering angle and the target lane turning angle determination interval, compared with the prior art that identifies the elevated road and plans the vehicle's driving route through devices such as a barometer and a gyroscope, it can effectively improve the accuracy of controlling the vehicle's navigation route, thereby improving the user's driving experience.

[0073] In one embodiment, if Figure 3 Based on the first embodiment, a second embodiment of the vehicle navigation route control method of the present invention is proposed, wherein step S20 comprises:

[0074] Step S201, obtaining the location information of the elevated road, and extracting the boundary lanes of the total lanes of the target road according to the location information.

[0075] It should be understood that the position information refers to the position information of the elevated road relative to the target vehicle. Since the acquired spatial coordinates of the target vehicle cannot be accurate to the lane level, in order to determine whether the elevated road is on the left or right side of the target road, it can be determined based on its own navigation information. For example, if the navigation information is "drive to the right front to get on the elevated road", then the elevated road is determined to be on the right side of the target road. At this time, the boundary lane is the rightmost lane. Even if the position of the elevated road relative to the target vehicle can be identified by the camera equipment, since the target vehicle is always in a driving state, the camera equipment will be delayed in the process of collecting data, and the amount of data collected is large, and the efficiency of the processing process is low. Therefore, it is not feasible to directly identify the elevated road through image processing algorithms.

[0076] Step S202: obtaining a lane quantity difference according to the current lane and the boundary lane.

[0077] It can be understood that after obtaining the current lane and the boundary lane, the difference in the number of lanes crossed by the target vehicle during the turning process is obtained based on the current lane and the boundary lane. For example, if the current lane is the first lane and the boundary lane is the fourth lane, the difference in the number of lanes is 3.

[0078] Step S203, querying the lane number difference through a preset lane crossing angle mapping table according to the current speed of the target vehicle to obtain a target lane angle determination interval.

[0079] It should be understood that the preset lane crossing angle mapping table refers to a mapping data table that stores vehicle speed, lane number difference and lane angle determination interval. The preset lane crossing angle mapping table is a three-dimensional data table. When the vehicle speed is 60km / h, the lane angle determination interval corresponding to the lane number difference of 1 is 15 degrees-20 degrees, the lane angle determination interval corresponding to the lane number difference of 2 is 20 degrees-25 degrees, and the lane angle determination interval corresponding to the lane number difference of 3 is 25 degrees-30 degrees. After the speed of the target vehicle is determined, the preset lane crossing angle mapping table is queried according to the lane number difference to obtain the target lane angle determination interval corresponding to the lane number difference.

[0080] It can be understood that the target lane turning angle determination interval includes a lane right turning angle determination interval and a lane left turning angle determination interval. The lane right turning angle determination interval refers to the turning angle determination interval when the target vehicle turns right, and the lane left turning angle determination interval refers to the turning angle determination interval when the target vehicle turns left.

[0081] Furthermore, after step S203, it also includes: when the current guidance route is not the target route, determining whether the current cumulative steering angle is greater than or equal to the lane right turn angle determination interval; if the current cumulative steering angle is less than the lane right turn angle determination interval, determining whether the current cumulative steering angle is greater than or equal to the lane left turn angle determination interval; if the current cumulative steering angle is greater than or equal to the lane left turn angle determination interval, obtaining second road surface information; generating a second navigation route according to the current road surface information and a preset navigation system, and controlling the target vehicle to travel along the second navigation route.

[0082] It should be understood that when it is determined that the current guidance route is not the target route, it continues to determine whether the current cumulative steering angle is greater than or equal to the lane right turn angle determination interval. If not, it continues to determine whether the current cumulative steering angle is greater than or equal to the lane left turn angle determination interval. If so, it indicates that the user's driving intention is not the current guidance route. At this time, it is necessary to re-plan the driving route, that is, generate a second navigation route based on the current road surface information and the preset navigation system. The second navigation route is to guide the user to the elevated route and control the target vehicle to travel along the second navigation route.

[0083] Furthermore, if the current cumulative steering angle is less than the lane right turn angle determination interval, then after determining whether the current cumulative steering angle is greater than or equal to the lane left turn angle determination interval, it also includes: if the current cumulative steering angle is less than the lane left turn angle determination interval, then determining whether the current lane where the target vehicle is located is a reference lane; if the current lane is not a reference lane, then generating a second navigation route based on the current road surface information and a preset navigation system, and controlling the target vehicle to travel along the second navigation route.

[0084] It can be understood that when it is determined that the current cumulative steering angle is less than the lane left turn angle determination interval, it is continued to determine whether the current lane where the target vehicle is located is a reference lane. If so, it indicates that the target vehicle is driving on the far right and the user's driving intention is to go straight. At this time, the driving route of the target vehicle is consistent with the current guidance route, that is, the target vehicle is controlled to continue driving along the current guidance route. If not, it indicates that the user's driving intention is contrary to the current guidance route, that is, a second navigation route is generated according to the current road surface information and the preset navigation system, and the vehicle is driven along the second navigation route.

[0085] This embodiment obtains the position information of the elevated road, extracts the boundary lanes of the total lanes of the target road according to the position information; obtains the lane number difference according to the current lane and the boundary lane; queries the lane number difference through a preset lane crossing angle mapping table according to the current speed of the target vehicle, and obtains the target lane turning angle determination interval; since this embodiment extracts the boundary lanes of the total lanes of the target lane through the position information of the elevated road, and then obtains the corresponding lane number difference according to the current lane and the boundary lane, after the current vehicle speed is determined, queries the target lane turning angle determination interval corresponding to the lane number difference through a preset lane crossing angle mapping table according to the current vehicle speed, thereby effectively improving the accuracy of obtaining the target lane turning angle determination interval.

[0086] In one embodiment, if Figure 4 Based on the first embodiment, a third embodiment of the vehicle navigation route control method of the present invention is proposed, wherein step S40 comprises:

[0087] Step S401, when the current guidance route is the target route, it is determined whether the current accumulated steering angle is greater than or equal to the lane right turn angle determination interval.

[0088] It can be understood that when the current guidance route is the target route, it is necessary to determine whether the current cumulative steering angle of the target vehicle is greater than or equal to the lane right turn angle determination interval, and the lane right turn angle determination interval refers to the turning angle determination interval when the target vehicle turns right.

[0089] Furthermore, after step S401, it also includes: if the current cumulative steering angle is greater than or equal to the lane right turn angle determination interval, obtaining first road surface information; generating a first navigation route according to the current road surface information and a preset navigation system, and controlling the target vehicle to travel along the first navigation route.

[0090] It should be understood that the first road surface information refers to the road surface information of the target lane, including landmark buildings near the road surface, such as schools, hospitals, and supermarkets. When it is determined that the current cumulative steering angle is greater than or equal to the lane right turn angle determination interval, it indicates that the vehicle is driving incorrectly and is not driving according to the planned route. At this time, the user's navigation route needs to be re-planned, that is, the first navigation route is generated according to the current road surface information and the preset navigation system, and the target vehicle is controlled to drive according to the first navigation route. The preset navigation system can be a built-in GPS navigation system in the vehicle or other navigation systems, and this embodiment does not limit this.

[0091] Step S402: If the current accumulated steering angle is less than the lane right turn angle determination interval, determine whether the current accumulated steering angle is greater than or equal to the lane left turn angle determination interval.

[0092] It should be understood that when it is determined that the current cumulative steering angle is less than the lane right turn angle determination interval, it indicates that the user has no intention to turn right. At this time, it is necessary to determine whether the user has the intention to turn left, that is, by comparing the current cumulative steering angle with the lane left turn angle determination interval, the lane right turn angle determination interval and the lane left turn angle determination interval are the same in size, only different in direction. The lane right turn angle determination interval is set to positive and the lane left turn angle determination interval is set to negative. For example, when the crossing lane is 1, the lane right turn angle determination interval is 15 degrees-20 degrees, and the lane left turn angle determination interval is -20 degrees-(-15 degrees).

[0093] Step S403: If the current accumulated steering angle is less than the lane left turn angle determination interval, it is determined whether the current lane where the target vehicle is located is a reference lane.

[0094] It can be understood that when it is determined that the current cumulative steering angle is less than the lane angle determination interval, it indicates that the user has no intention to turn left. When the user has no intention to turn left or right, it indicates that the user wants to drive the target vehicle straight at this time. The reference lane is the rightmost lane of the target road, and the current lane refers to the lane in which the target vehicle is driving.

[0095] Step S404: If the current lane is not a reference lane, the target vehicle is controlled to travel according to the current guidance route.

[0096] It should be understood that when it is determined that the current lane is not a reference lane, it indicates that the user's real intention at this time is to get on the elevated road, that is, the current guidance route is correct, that is, continue to control the target vehicle to travel along the current guidance route.

[0097] refer to Figure 5 , Figure 5 The overall control logic diagram of the vehicle navigation route control method is as follows: in this case, the elevated road is on the left side of the target vehicle. When starting navigation, it is determined by the navigation guidance information whether there is an elevated road 100 meters ahead. If so, the current lane where the target vehicle is located and the total lane of the target road are determined by the camera device, and the target lane turning angle determination interval is determined according to the current lane and the target total lane. The target lane turning angle determination interval includes the lane right turning angle determination interval A and the lane left turning angle determination interval B. The current cumulative steering angle L is calculated according to the current steering information of the target vehicle, and it is determined whether the current guidance route is the target route. If so, it is determined whether L exceeds A. If not, it is determined whether L exceeds B. If so, the target vehicle is driving correctly and continues to drive according to the current guidance route. If not, it is determined whether the route where the target vehicle is located is a reference lane. If not, the target vehicle is driving correctly and continues to drive according to the current guidance route. If L exceeds A or the route where the target vehicle is located is a reference lane, the target vehicle is driving incorrectly, and the first navigation route is replanned and generated, and the target vehicle is controlled to drive according to the first navigation route. If the current guidance route is not the target route, then determine whether L exceeds A. If not, then determine whether L exceeds B. If so, it indicates that the target vehicle is driving wrong, re-plan and generate the second navigation route, and control the target vehicle to drive according to the second navigation route. If L does not exceed B, then determine whether the current lane where the target vehicle is located is the reference lane. If not, the target vehicle is driving wrong, re-plan and generate the second navigation route, and control the target vehicle to drive according to the second navigation route. If the current lane where the target vehicle is located is the reference lane, it indicates that the target vehicle is driving correctly and continues to drive according to the current guidance route. In addition, the left control logic is encapsulated, and when it is elevated on the right side of the target vehicle, the control logic encapsulation interface is also used for judgment.

[0098] This embodiment determines whether the current cumulative steering angle is greater than or equal to the lane right turn angle determination interval when the current guidance route is the target route. If not, it continues to determine whether the current cumulative steering angle is greater than or equal to the lane left turn angle determination interval. If not, it is necessary to continue to determine whether the current lane is a reference lane. If not, the current guidance route is consistent with the user's driving intention, and the target vehicle is controlled to continue driving through the current guidance route, thereby effectively improving the accuracy of controlling the vehicle navigation route.

[0099] In addition, an embodiment of the present invention further proposes a storage medium, on which a vehicle navigation route control program is stored. When the vehicle navigation route control program is executed by a processor, the steps of the vehicle navigation route control method described above are implemented.

[0100] Since the storage medium adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here.

[0101] In addition, refer to Figure 6 The embodiment of the present invention further provides a vehicle navigation route control device, the vehicle navigation route control device comprising:

[0102] The acquisition module 10 is used to acquire the current lane where the target vehicle is located and the total lanes of the target road.

[0103] It should be understood that the current lane refers to the lane in which the target vehicle is traveling. The current lane can be any lane on the target road. The current lane can be identified by a camera device or located by a navigation system. This embodiment does not limit this and uses camera device identification as an example for explanation.

[0104] It can be understood that the total number of lanes of the target road refers to the total number of lanes on the road on which the target vehicle is traveling. The total number of lanes of the target road emphasizes the number of lanes in the same direction as the target vehicle's travel. For example, Road A has a total of 8 lanes, and a dividing strip is set at the boundary between the 4th and 5th roads, that is, the first 4 lanes are lanes in the opposite direction of the target vehicle's travel, and the last 4 lanes are in the same direction as the target vehicle's travel. At this time, the total number of lanes of the target road is 4.

[0105] The determination module 20 is used to determine the target lane turning angle determination interval according to the current lane and the total lanes of the target road.

[0106] It should be understood that the target lane angle determination interval refers to the interval for determining whether the target vehicle's turning angle is changing lanes. That is, when the target vehicle's current turning angle exceeds the target lane angle determination interval, it indicates that the user's driving intention is to cross the lane and change lanes. For example, the target vehicle B has a current turning angle of 18 degrees and is intended to cross lane 1. The target lane angle determination interval for crossing lane 1 is 15 degrees-20 degrees. At this time, the current turning angle is within the target lane angle determination interval.

[0107] It can be understood that the target lane determination interval is determined by the current lane and the total lanes of the target road. Specifically, the number of lanes that the target vehicle needs to cross to travel from the current lane to the boundary lane is determined by the current lane and the total lanes of the target road, that is, the lane number difference, and the target lane turning angle determination interval is determined by the lane number difference. Since the target vehicle is strongly related to the elevated road and the current position when crossing the lane, that is, when the elevated road is on the left side of the target vehicle, the boundary lane is the left lane of the total lane of the target road. Conversely, when the elevated road is on the right side of the target vehicle, the boundary lane is the right lane of the total lane of the target road.

[0108] The calculation module 30 is used to obtain the current steering information of the target vehicle and calculate the current cumulative steering angle according to the current steering information.

[0109] It should be understood that the current steering information refers to the information of the target vehicle turning during driving, and the current cumulative steering angle refers to the angle at which the target vehicle turns from the current lane to the target lane, which is obtained by accumulating each steering angle.

[0110] Furthermore, the calculation module 30 is also used to obtain the current steering information of the target vehicle, and obtain the unit steering angle and the number of turns according to the current steering information; calculate the unit steering angle and the number of turns to obtain the current cumulative steering angle of the target vehicle.

[0111] It can be understood that the unit turning angle refers to the turning angle of the target vehicle across a lane, and the number of turns refers to the number of turns the target vehicle makes from the current lane to the target lane. The current cumulative turning angle is calculated by the unit turning angle and the number of turns of the target vehicle. For example, if the unit turning angle of the target vehicle is 12 degrees and the number of turns is 3, the current cumulative turning angle is 36 degrees.

[0112] The control module 40 is used to control the target vehicle to travel along a preset navigation route according to the current accumulated steering angle and the target lane turning angle determination interval when the current guidance route is the target route.

[0113] It can be understood that the target route refers to the route that the target vehicle needs to travel, and the current guidance route refers to the route navigated by the navigation system. The target route can be an elevated route. When the current guidance route is the target route, it is necessary to determine whether the current cumulative steering angle is greater than or equal to the maximum value of the target lane turning angle determination interval. If so, the vehicle will travel according to the current guidance route. Otherwise, it indicates that the vehicle is driving incorrectly and is not traveling according to the planned route. A new navigation route needs to be regenerated based on the current road surface information.

[0114] This embodiment obtains the current lane where the target vehicle is located and the total lane of the target road; determines the target lane turning angle determination interval according to the current lane and the total lane of the target road; obtains the current steering information of the target vehicle, and calculates the current cumulative steering angle according to the current steering information; when the current guidance route is the target route, controls the target vehicle to travel according to the preset navigation route according to the current cumulative steering angle and the target lane turning angle determination interval; since this embodiment calculates the current cumulative steering angle of the target vehicle through the current steering information, and then controls the target vehicle's driving route according to the current cumulative steering angle and the target lane turning angle determination interval, compared with the prior art that identifies the elevated road and plans the vehicle's driving route through devices such as a barometer and a gyroscope, it can effectively improve the accuracy of controlling the vehicle's navigation route, thereby improving the user's driving experience.

[0115] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of the present invention. In practical applications, technicians in this field can select part or all of them according to actual needs to achieve the purpose of the present embodiment, and no limitation is made here.

[0116] In addition, for technical details that are not described in detail in this embodiment, reference can be made to the vehicle navigation route control method provided in any embodiment of the present invention, and will not be repeated here.

[0117] In one embodiment, the determination module 20 is also used to obtain the position information of the elevated road, extract the boundary lanes of the total lanes of the target road according to the position information; obtain the lane number difference according to the current lane and the boundary lane; query the lane number difference through a preset lane crossing angle mapping table according to the current speed of the target vehicle, and obtain the target lane angle determination interval.

[0118] In one embodiment, the calculation module 30 is also used to obtain the current steering information of the target vehicle, and obtain the unit steering angle and the number of turns according to the current steering information; the unit steering angle and the number of turns are calculated to obtain the current cumulative steering angle of the target vehicle.

[0119] In one embodiment, the control module 40 is further used to determine whether the current cumulative steering angle is greater than or equal to the lane right turn angle determination interval when the current guidance route is the target route; if the current cumulative steering angle is less than the lane right turn angle determination interval, determine whether the current cumulative steering angle is greater than or equal to the lane left turn angle determination interval; if the current cumulative steering angle is less than the lane left turn angle determination interval, determine whether the current lane where the target vehicle is located is a reference lane; if the current lane is not a reference lane, control the target vehicle to travel according to the current guidance route.

[0120] In one embodiment, the control module 40 is also used to obtain first road surface information if the current cumulative steering angle is greater than or equal to the lane right turn angle determination interval; generate a first navigation route based on the current road surface information and a preset navigation system, and control the target vehicle to travel along the first navigation route.

[0121] In one embodiment, the control module 40 is also used to determine whether the current cumulative steering angle is greater than or equal to the lane right turn angle determination interval when the current guidance route is not the target route; if the current cumulative steering angle is less than the lane right turn angle determination interval, then determine whether the current cumulative steering angle is greater than or equal to the lane left turn angle determination interval; if the current cumulative steering angle is greater than or equal to the lane left turn angle determination interval, obtain second road surface information; generate a second navigation route based on the current road surface information and a preset navigation system, and control the target vehicle to travel along the second navigation route.

[0122] In one embodiment, the control module 40 is also used to determine whether the current lane where the target vehicle is located is a reference lane if the current cumulative steering angle is less than the lane left turn angle determination interval; if the current lane is not a reference lane, a second navigation route is generated according to the current road surface information and a preset navigation system, and the target vehicle is controlled to travel along the second navigation route.

[0123] Other embodiments or implementation methods of the vehicle navigation route control device of the present invention may refer to the above-mentioned method embodiments, which will not be repeated here.

[0124] In addition, it should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0125] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0126] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory (ROM) / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, an integrated platform workstation, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0127] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A vehicle navigation route control method, characterized in that: The vehicle navigation route control method comprises the following steps: Get the current lane where the target vehicle is located and the total lanes of the target road; Determine a target lane turning angle determination interval according to the current lane and the total lanes of the target road; Acquire current steering information of the target vehicle, and calculate a current cumulative steering angle according to the current steering information; When the current guidance route is the target route, controlling the target vehicle to travel along the preset navigation route according to the current cumulative steering angle and the target lane turning angle determination interval; After obtaining the current steering information of the target vehicle and calculating the current cumulative steering angle according to the current steering information, the method further includes: When the current guidance route is not the target route, determining whether the current accumulated steering angle is greater than or equal to a lane right turn angle determination interval; If the current accumulated steering angle is less than the lane right turn angle determination interval, determining whether the current accumulated steering angle is greater than or equal to the lane left turn angle determination interval; If the current accumulated steering angle is less than the lane left turn angle determination interval, determining whether the current lane where the target vehicle is located is a reference lane; If the current lane is not the reference lane, a second navigation route is generated according to the current road surface information and the preset navigation system, and the target vehicle is controlled to travel along the second navigation route.

2. The vehicle navigation route control method according to claim 1, characterized in that: The determining of the target lane turning angle determination interval according to the current lane and the total lanes of the target road includes: Acquire the location information of the elevated road, and extract the boundary lane of the total lane of the target road according to the location information; Obtaining a lane quantity difference according to the current lane and the boundary lane; The lane number difference is queried through a preset lane crossing angle mapping table according to the current speed of the target vehicle to obtain a target lane angle determination interval.

3. The vehicle navigation route control method according to claim 1, characterized in that: The obtaining of current steering information of the target vehicle and calculating a current cumulative steering angle according to the current steering information includes: Acquire current steering information of the target vehicle, and obtain a unit steering angle and a steering quantity according to the current steering information; The unit steering angle and the number of steerings are calculated to obtain a current cumulative steering angle of the target vehicle.

4. The vehicle navigation route control method according to claim 1, characterized in that: The target lane turning angle determination interval includes a lane right turning angle determination interval and a lane left turning angle determination interval; When the current guidance route is the target route, controlling the target vehicle to travel along the preset navigation route according to the current cumulative steering angle and the target lane turning angle determination interval includes: When the current guidance route is the target route, determining whether the current cumulative steering angle is greater than or equal to a lane right turn angle determination interval; If the current accumulated steering angle is less than the lane right turn angle determination interval, determining whether the current accumulated steering angle is greater than or equal to the lane left turn angle determination interval; If the current accumulated steering angle is less than the lane left turn angle determination interval, determining whether the current lane where the target vehicle is located is a reference lane; If the current lane is not a reference lane, the target vehicle is controlled to travel according to the current guidance route.

5. The vehicle navigation route control method according to claim 4, characterized in that: When the current guidance route is the target route, after determining whether the current cumulative steering angle is greater than or equal to the lane right turn angle determination interval, the method further includes: If the current cumulative steering angle is greater than or equal to the lane right turn angle determination interval, obtaining first road surface information; A first navigation route is generated according to the current road surface information and a preset navigation system, and the target vehicle is controlled to travel along the first navigation route.

6. The vehicle navigation route control method according to any one of claims 1 to 5, characterized in that: If the current cumulative steering angle is less than the lane right turn angle determination interval, after determining whether the current cumulative steering angle is greater than or equal to the lane left turn angle determination interval, the method further includes: If the current accumulated steering angle is greater than or equal to the lane left turn angle determination interval, obtaining second road surface information; A second navigation route is generated according to the current road surface information and a preset navigation system, and the target vehicle is controlled to travel along the second navigation route.

7. A vehicle navigation route control device, characterized in that: The vehicle navigation route control device comprises: An acquisition module, used to acquire the current lane where the target vehicle is located and the total lanes of the target road; A determination module, used to determine a target lane turning angle determination interval according to the current lane and the total lanes of the target road; A calculation module, used to obtain the current steering information of the target vehicle and calculate the current cumulative steering angle according to the current steering information; A control module, for controlling the target vehicle to travel along a preset navigation route according to the current cumulative steering angle and the target lane turning angle determination interval when the current guidance route is the target route; The control module is also used to determine whether the current cumulative steering angle is greater than or equal to the lane right turn angle determination interval when the current guidance route is not the target route; if the current cumulative steering angle is less than the lane right turn angle determination interval, determine whether the current cumulative steering angle is greater than or equal to the lane left turn angle determination interval; if the current cumulative steering angle is less than the lane left turn angle determination interval, determine whether the current lane where the target vehicle is located is a reference lane; if the current lane is not a reference lane, generate a second navigation route based on the current road surface information and a preset navigation system, and control the target vehicle to travel along the second navigation route.

8. A vehicle navigation route control device, characterized in that: The vehicle navigation route control device includes: a memory, a processor, and a vehicle navigation route control program stored in the memory and executable on the processor, wherein the vehicle navigation route control program is configured to implement the vehicle navigation route control method according to any one of claims 1 to 6.

9. A storage medium, characterized in that: The storage medium stores a vehicle navigation route control program, and when the vehicle navigation route control program is executed by the processor, the vehicle navigation route control method according to any one of claims 1 to 6 is implemented.

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