Error layer setting method, device and computer readable storage medium

Abstract

The present application discloses an error layer setting method, device and computer-readable storage medium, and relates to the field of vehicle navigation technology. The method comprises the following steps: obtaining road information, and obtaining a map error area according to the road information and a preset navigation map; when the map error area is within a preset intersection range, determining the wrong entry lane and the wrong exit lane corresponding to the map error area; taking the first position outside the preset intersection range on the wrong entry lane as the error starting point, and determining the corresponding second position on the wrong exit lane as the error end point according to the end position of the map error area; setting the corresponding error layer on the preset navigation map according to the error starting point and the error end point. In the event of a map error at an intersection, the present application leaves sufficient time and space for the driver to take over so that the driver can take over smoothly.

Description

Technical Field

[0001] The present application relates to the field of vehicle navigation technology, and in particular to an error layer setting method, device and computer-readable storage medium. Background Art

[0002] With the rise of the concept of intelligent driving, various types of vehicle assisted driving functions are now widely used. CNGP (City Navigation Guided Pilot) requires the use of high-precision maps that match the real world. However, the real world is constantly changing, especially in urban road scenes, where construction and diversion are often required, resulting in the map not matching the real world. In this case, the CNGP function needs to be exited. However, if the high-precision map does not match the real world at a fork or intersection, the CNGP function will immediately exit or downgrade, causing the driver to panic and feel uneasy, making the driver's takeover process inconvenient.

[0003] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0004] The main purpose of this application is to provide an error layer setting method, device and computer-readable storage medium, aiming to solve the technical problem that the CNGP function is immediately exited before a fork or intersection, resulting in an inconvenient takeover process for the driver.

[0005] To achieve the above objectives, in a first aspect, the present application provides an error layer setting method, the error layer setting method comprising the following steps:

[0006] Acquire road information, and obtain a map error area based on the road information and a preset navigation map;

[0007] When the map error area is within a preset intersection range, determining an incorrect entry lane and an incorrect exit lane corresponding to the map error area;

[0008] Taking a first position outside a preset intersection range on the wrongly entered lane as an error starting point, and determining a corresponding second position on the wrongly exited lane as an error ending point according to an ending position of the error area on the map;

[0009] A corresponding error layer is set on a preset navigation map according to the error starting point and the error end point.

[0010] Based on the above technical solution, by taking the first position outside the preset intersection range on the wrong entry lane as the error starting point, it is avoided that when a map error area appears at a fork road or intersection, the CNGP function is immediately exited or downgraded when the vehicle enters the map error area, but the CNGP function is exited or downgraded before entering the map error area, thereby improving the driver's driving experience and leaving sufficient time and space for the driver's takeover process, so that the driver can smoothly take over. On the other hand, by setting the corresponding error layer on the preset navigation map according to the error starting point on the wrong entry lane and the error end point on the wrong exit lane, since the setting of the error layer is only for the entry lane and exit lane affected by the map error area (i.e., the wrong entry lane and the wrong exit lane). Therefore, it will not affect the normal lanes that are not affected by the map error area, and vehicles traveling on the normal lanes can use the CNGP function to pass normally, which improves the accuracy of the error layer setting and reduces the interference with the normal use of the vehicle CNGP function.

[0011] According to the first aspect, or any implementation of the first aspect above, the steps of wrongly entering a lane and wrongly exiting a lane corresponding to the map error area include:

[0012] When the starting point of the map error area is on an entry lane within the preset intersection range, the entry lane within the map error area is used as an incorrect entry lane, and the lane exiting the map error area within the preset intersection range is used as an incorrect exit lane;

[0013] When the starting point of the map error area is on the exit lane within the preset intersection range, the entry lane within the preset intersection range that leads to the map error area is used as the wrong entry lane, and the exit lane within the map error area is used as the wrong exit lane.

[0014] Based on the above technical solution, when the starting position of the map error area is on the entry lane within the preset intersection range, the entry lane within the map error area coverage will be affected by the map error area, so the entry lane within the map error area is used as the wrong entry lane. And in order to avoid the vehicle from leaving the error layer when entering or in the intersection, the CNGP function is restarted, and the lane leaving the map error area within the preset intersection range is used as the wrong exit lane, so that the vehicle can leave the error layer when entering the exit lane. When the starting position of the map error area is on the exit lane within the preset intersection range, in addition to the exit lane within the map error area coverage being affected by the map error area and needing to be used as the wrong exit lane, the entry lane heading to the map error area in the intersection will also be affected, so as to avoid the vehicle from exiting as the wrong entry lane just after leaving the intersection, and thus according to the different starting positions of the map error area, the entry lane and exit lane affected by the map error area (i.e., the wrong entry lane and the wrong exit lane) are determined.

[0015] According to the first aspect, or any implementation of the first aspect above, when the map error area is within a preset intersection range, the step of determining an erroneous entry lane and an erroneous exit lane corresponding to the map error area includes:

[0016] Determining whether the starting point of the map error area is within a road range of a first preset distance centered at the intersection;

[0017] If the starting point position is within the road range, it is determined that the map error area is within the preset intersection range.

[0018] Based on the above technical solution, whether the map error area is within the preset intersection range is determined by whether the starting position of the map error area is within the road range of the first preset distance centered on the intersection. When the starting position of the map error area is not within the preset intersection range, it means that the vehicle does not need to exit or downgrade the CNGP function near the intersection, or the vehicle has exited or downgraded the CNGP function before and has been taken over by the driver. Therefore, by judging the starting position of the erroneous map area, it can be determined whether it is necessary to set an error layer within the preset intersection range of the intersection.

[0019] According to the first aspect, or any implementation of the first aspect above, the step of taking the first position outside the preset intersection range on the wrongly entered lane as the wrong starting point includes:

[0020] According to the road information, determining whether there is a change in the number of lanes of the entry lane within the preset intersection range;

[0021] If there is a change in the number of lanes, the position from the intersection of the dashed and solid lines of the lane line on the wrongly entered lane to the second preset distance away from the forward direction of the vehicle is taken as the first position, and the first position is taken as the error starting point;

[0022] If there is no change in the number of lanes, the position from the junction of the preset intersection range on the wrong-entry lane and the wrong-entry lane to the third preset distance away from the vehicle's forward direction is taken as the first position, and the first position is taken as the wrong starting point.

[0023] Based on the above technical solution, when there is a change in the number of lanes in the entry lane of the intersection, the error starting point is set at a position at the intersection of the dashed and solid lines of the lane lines on the wrong entry lane to a position away from the vehicle's forward direction by a second preset distance, thereby ensuring that the driver has sufficient time and space to change lanes in the dashed line section of the lane after the vehicle's CNGP function is exited or downgraded, so as to avoid the situation where the vehicle has entered the solid line section of the lane after the vehicle's CNGP function is exited or downgraded, resulting in the driver being unable to change lanes, thereby improving the driving experience after the driver takes over.

[0024] According to the first aspect, or any implementation of the first aspect above, the step of determining, according to the position information of the map error area, the second position corresponding to the wrong exit lane as the wrong end point includes:

[0025] Determining whether the end position of the map error area is located on an exit lane connected to an intersection within the preset intersection range;

[0026] If the end point position is located on an exit lane connected to an intersection within the preset intersection range, the end point position of the map error area is used as a second position, and the second position is used as an error end point;

[0027] If the end point position is not located on an exit lane connected to an intersection within the preset intersection range, a position at a third preset distance from the intersection to the vehicle's forward direction is taken as a second position, and the second position is taken as an incorrect end point.

[0028] Based on the above technical solution, by judging whether the end position of the map error area is on the exit lane connected to the intersection within the preset intersection range, when the end position is on the exit road connected to the intersection, the end position is used as the error end position, so that the vehicle can resume the use of the CNGP function only after exiting the end position of the map error area. When the end position is on the exit road connected to the intersection (that is, the end position is on the entry road connected to the intersection or on the intersection), the position of the third preset distance from the intersection to the vehicle's forward direction is used as the error end point, so that the vehicle can resume the use of the CNGP function only after exiting the intersection, avoiding the restoration of the CNGP function when passing through the intersection, which affects the driver's normal driving behavior when passing through the intersection.

[0029] According to the first aspect, or any implementation of the first aspect above, the step of setting a corresponding error layer on a preset navigation map according to the error starting point and the error end point includes:

[0030] Determine a corresponding wrongly entered lane section according to the wrongly entered lane and the wrong starting point;

[0031] Determining a corresponding wrong exit lane section according to the wrong exit lane and the wrong end point;

[0032] According to the incorrectly entered lane section and the incorrectly exited lane section, a corresponding error layer is set on the preset navigation map.

[0033] Based on the above technical solution, the corresponding wrong entry lane section and wrong exit lane section are determined respectively through the wrong entry lane and the wrong starting point, as well as the wrong exit lane and the wrong end point, and then the corresponding error layer is set on the preset navigation map. Thereby, when the vehicle is driving according to the preset navigation map with the error layer set, if it enters the wrong entry lane section, the CNGP function will be exited or downgraded. When exiting the wrong exit lane section, the CNGP function will be re-enabled. Therefore, even if there is a map error area within the preset intersection range, the vehicle will not exit or downgrade the CNGP function if the vehicle does not enter the wrong entry lane section. Thereby, the accuracy of the error layer setting is improved, and the interference with the normal use of the vehicle CNGP function is reduced.

[0034] According to the first aspect, or any implementation of the first aspect above, the step of setting a corresponding error layer on a preset navigation map according to the erroneous road segment further includes:

[0035] Determining a corresponding connecting virtual lane according to the incorrectly entered lane section and the incorrectly exited lane section;

[0036] The connected virtual lane is added to an error layer of the preset navigation map.

[0037] Based on the above technical solution, the connecting virtual lanes corresponding to the wrong entry lane segment and the wrong exit lane segment are added to the error layer of the preset navigation map. On the one hand, when the end position of the map error area is before or inside the intersection, it is prevented that the vehicle re-enables the CNGP function before or inside the intersection with complex vehicle conditions. On the other hand, when the starting position of the map error area is after the intersection, it can prevent the vehicle with the CNGP function enabled from driving to the map error area (such as construction area, diversion area, etc.) on the exit lane in the intersection.

[0038] According to the first aspect, or any implementation of the first aspect above, the error layer setting method further includes the following steps:

[0039] When the map error area is not within the preset intersection range, the lane within the map error area is used as the wrong lane, the starting position of the map error area is used as the wrong starting point, and the end position of the map error area is used as the wrong end point.

[0040] Based on the above technical solution, if the map error area is not within the preset intersection range, the actual starting position and the actual end position of the map error area can be directly used as the corresponding error starting point and the error end point, so as to determine the corresponding error lane section according to the error lane, the error starting point and the error end point, and set the corresponding error layer on the preset navigation map. Therefore, there is no need to adjust the actual starting position and the actual end position of the map error area, which improves the convenience of error layer setting.

[0041] In a second aspect, the present application provides an error layer setting device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the method described in any one of the first aspect or possible implementation methods of the first aspect.

[0042] The second aspect and any implementation of the second aspect correspond to the first aspect and any implementation of the first aspect respectively. The technical effects corresponding to the second aspect and any implementation of the second aspect can refer to the technical effects corresponding to the above-mentioned first aspect and any implementation of the first aspect, which will not be repeated here.

[0043] In a third aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method described in any one of the first aspect or possible implementations of the first aspect.

[0044] The third aspect and any implementation of the third aspect correspond to the first aspect and any implementation of the first aspect, respectively. The technical effects corresponding to the third aspect and any implementation of the third aspect can refer to the technical effects corresponding to the first aspect and any implementation of the first aspect, which will not be repeated here.

[0045] In a fourth aspect, the present application provides a computer program, comprising instructions for executing the method described in any one of the above-mentioned first aspect or possible implementations of the first aspect.

[0046] The fourth aspect and any implementation of the fourth aspect correspond to the first aspect and any implementation of the first aspect, respectively. The technical effects corresponding to the fourth aspect and any implementation of the fourth aspect can refer to the technical effects corresponding to the above-mentioned first aspect and any implementation of the first aspect, which will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 A schematic diagram of the structure of an error layer setting device for a hardware operating environment involved in an embodiment of the present application;

[0048] Figure 2 This is a flow chart of an embodiment of the error layer setting method of the present application;

[0049] Figure 3 This is an example of a scene at an intersection in the error layer setting method of this application;

[0050] Figure 4 A schematic diagram of a scene in which a map error area is on an entry lane within a preset intersection range in the error layer setting method of this application;

[0051] Figure 5 A schematic diagram of a scene in which a map error area is on an exit lane within a preset intersection range in the error layer setting method of this application;

[0052] Figure 6 A schematic diagram of a scene of another embodiment of the error layer setting method of the present application.

[0053] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0054] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0055] The term "and / or" in this article is merely a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone.

[0056] The terms "first" and "second" in the description and claims of the embodiments of the present application are used to distinguish different objects rather than to describe a specific order of objects. For example, a first target object and a second target object are used to distinguish different target objects rather than to describe a specific order of target objects.

[0057] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0058] In the description of the embodiments of the present application, unless otherwise specified, the meaning of "multiple" refers to two or more than two. For example, multiple processing units refer to two or more processing units; multiple systems refer to two or more systems.

[0059] In order to make the description of the following embodiments clear and concise, a brief introduction to an implementation scheme of an error layer setting method is first given:

[0060] With the rise of the concept of intelligent driving, various types of vehicle assisted driving functions are now widely used. CNGP (City Navigation Guided Pilot) requires the use of high-precision maps that are consistent with the real world. However, the real world is constantly changing, especially in urban road scenes, where construction and diversion are often carried out, resulting in inconsistencies between the map and the real world. At the same time, it is not suitable to use the CNGP function for complex scenes such as road construction. Therefore, in order to ensure the safety of CNGP use, it is currently usually adopted to set an error layer to downgrade CNGP in areas where the above map is inconsistent with the real world, such as downgrading from CNGP to LCC (Lane Centering Control), or exiting the CNGP function, so that the driver can take over. However, if there is a situation where the map is inconsistent with the real world before a fork or intersection, the immediate exit or downgrade of the CNGP function at the fork or intersection will cause the driver to panic and feel uneasy, and the driver's takeover process is relatively inconvenient.

[0061] The present application designs a method for setting an error layer, by presetting the actual starting point position of the map error area within a preset intersection range, and then setting the corresponding error layer, thereby avoiding problems such as poor driving experience and inconvenient takeover caused by the immediate exit or degradation of the CNGP function at a fork or intersection.

[0062] In some embodiments, by acquiring road information, and obtaining a map error area according to the road information and a preset navigation map, the location information of the map error area is determined. When the map error area is within the preset intersection range, the wrong entry lane and the wrong exit lane corresponding to the map error area are determined, thereby determining the entry lane and the exit lane affected by the map error area. The first position outside the preset intersection range on the wrong entry lane is used as the error starting point, so that the actual starting point of the map error area is pre-placed to the first position outside the preset intersection range on the wrong entry lane (i.e., the entry lane affected by the map error area), and the first position is used as the error starting point of the error layer, thereby avoiding the immediate exit or downgrade of the vehicle CNGP function when the map error area appears at a fork or intersection, but the exit or downgrade of the CNGP function is performed at the first position outside the preset intersection range of the entry intersection, so that the driver has sufficient time and space to take over the vehicle. Then, according to the end position of the map error area, the corresponding second position on the wrong exit lane is determined as the error end point, thereby determining the second position where the vehicle can re-enable the CNGP function as the error end point of the error layer. Finally, a corresponding error layer is set on the preset navigation map according to the error starting point and the error end point. On the one hand, by taking the first position outside the preset intersection range on the wrong entry lane as the error starting point, it is avoided that when a map error area appears at a fork road or intersection, the CNGP function immediately exits or downgrades when the vehicle enters the map error area. Instead, the CNGP function is exited or downgraded before entering the map error area, thereby improving the driver's driving experience and leaving sufficient time and space for the driver to take over, so that the driver can take over smoothly. On the other hand, since the setting of the error layer is only for the entry lane and exit lane affected by the map error area. Therefore, it will not affect the normal lanes that are not affected by the map error area. Vehicles traveling on normal lanes can use the CNGP function to pass normally, which improves the accuracy of the error layer setting and reduces interference with the normal use of the vehicle's CNGP function.

[0063] like Figure 1 As shown, Figure 1 A structural diagram of an error layer setting device for a hardware operating environment involved in an embodiment of the present application.

[0064] like Figure 1As shown, the error layer setting 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.

[0065] Those skilled in the art will understand that Figure 1 The structure shown in the figure does not constitute a limitation on the error layer setting device, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0066] like Figure 1 As shown, the memory 1005 as a storage medium may include an operating system, a data storage module, a network communication module, a user interface module and a computer program.

[0067] exist Figure 1 In the error layer setting device shown, the network interface 1004 is mainly used for data communication with other devices; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the error layer setting device of the present invention can be set in the error layer setting device, and the error layer setting device calls the computer program stored in the memory 1005 through the processor 1001, and executes the error layer setting method provided in the embodiment of the present application.

[0068] It should be understood that the above description is merely an example listed for a better understanding of the technical solution of this embodiment, and is not intended to be the sole limitation to this embodiment.

[0069] Combine the following Figure 2 The flowchart of an embodiment of the error layer setting method shown in FIG. 1 is used to explain the error layer setting method in detail.

[0070] See also Figure 2, an embodiment of the error layer setting method of the present application specifically includes:

[0071] Step S100, obtaining road information, and obtaining a map error area based on the road information and a preset navigation map;

[0072] In some embodiments, the execution subject of the error layer setting method of the present application is an error layer setting device, such as a vehicle-mounted device, a mobile terminal device, a server, etc., which is not limited in the embodiments of the present application. The road information may include information such as the intersection location, lane attributes, lane direction, number of branch sections, road conditions, etc. The intersection can be collected in real time by information collection devices such as laser radar, camera, positioning device, etc. carried by the vehicle, or the road information can be obtained thereby to determine the actual road conditions of the intersection. The road information is then compared with the road information in the preset navigation map to determine the area in the preset navigation map that does not conform to the actual road conditions, and the map error area is obtained.

[0073] Step S200, when the map error area is within a preset intersection range, determining an incorrect entry lane and an incorrect exit lane corresponding to the map error area;

[0074] In this embodiment, the intersection can be a cross, X-shaped, T-shaped, Y-shaped, staggered intersection, composite intersection, or other intersections. It is understood that the preset intersection range is a range set by the user or manufacturer to determine whether the map error area is close to the intersection, that is, the preset intersection range includes not only the intersection itself, but also the preset length of the entry lane and exit lane connected to the intersection itself. Figure 3 , Figure 3 This is an example of a scene at an intersection in the error layer setting method of this application. For example, Figure 3 The dotted line in is the demarcation point of the preset intersection range. The preset intersection range includes the road range enclosed by the dotted line, that is, the intersection itself and the entry lane and exit lane within the distance from the dotted line to the intersection itself; or the road range within a preset radius distance (such as 10m, 15m, 20m, etc.) centered on the intersection, etc. The area, position and shape of the preset intersection range can be set according to specific needs. When the map error area is within the preset intersection range, the entry lane and exit lane that need to pass through the map error area are determined according to the coverage of the map error area, thereby determining the entry lane (i.e., the wrong entry lane) and exit lane (i.e., the wrong exit lane) affected by the map error area.

[0075] In some embodiments, in step S200, when the map error area is within a preset intersection range, the step of determining the wrong entry lane and the wrong exit lane corresponding to the map error area includes:

[0076] Step S210, when the starting point of the map error area is on the entry lane within the preset intersection range, the entry lane within the map error area is used as the wrong entry lane, and the lane exiting the map error area within the preset intersection range is used as the wrong exit lane;

[0077] Reference Figure 4 , Figure 4 This is a schematic diagram of a scenario in which a map error area is on an entry lane within a preset intersection in the error layer setting method of the present application. When the starting position of the map error area is on an entry lane within the preset intersection, the entry lane within the map error area is regarded as an erroneous entry lane, and the erroneous entry lane may be all entry lanes that are in contact with the map error area. Thus, the entry lanes that will be affected by the map error area are determined. Since vehicles passing through the map error area whose starting position is on an entry lane may exit from any exit lane of the intersection, it is necessary to regard the lanes that exit the map error area within the preset intersection as erroneous exit lanes. In this embodiment, the entry lanes and exit lanes that will be affected by the map error area are determined when the starting position of the map error area is on an entry lane within the preset intersection.

[0078] Step S220: When the starting point of the map error area is on the exit lane within the preset intersection range, the entry lane within the preset intersection range heading toward the map error area is used as the wrong entry lane, and the exit lane within the map error area is used as the wrong exit lane.

[0079] Reference Figure 5 , Figure 5This is a schematic diagram of a scenario in which the map error area is on the exit lane within the preset intersection range in the error layer setting method of this application. When the starting position of the map error area is on the exit lane within the preset intersection range, the entry lane heading to the map error area within the preset intersection range is used as the wrong entry lane. For example, if the intersection is a crossroads, and the map error area is located on the exit lane on the right side of the intersection, then the entry lane above the intersection for turning left to the map error area is the wrong entry lane, the entry lane on the left side of the intersection for driving straight to the map error area is the wrong entry lane, and the entry lane below the intersection for turning right to the map error area is the wrong entry lane. Since other exit lanes are not affected by the map error area, the exit lane within the map error area can be used as the wrong exit lane. This avoids the impact on normal lanes, that is, when the vehicle does not enter the above-mentioned wrong entry lane and wrong exit lane, the vehicle can still use the CNGP function normally.

[0080] In some embodiments, before step S200, the method further includes:

[0081] Step S210, determining whether the starting point of the map error area is within a road range of a first preset distance centered at the intersection;

[0082] Step S211: If the starting point is within the road range, it is determined that the map error area is within a preset intersection range.

[0083] In this embodiment, the starting point of the map error area may be the intersection of the map error area and the lane in the direction of the vehicle heading toward the map error area. Figure 3 , Figure 3 This is an example of a scene at an intersection in the incorrect layer setting method of this application. Figure 3 As shown, the preset intersection range includes the intersection and the road section within a first preset distance from the intersection. It can be determined whether the starting position of the map error area is within the road range of a first preset distance (such as 10m, 15m, 20m, etc.) from the center of the intersection. The first preset distance is a distance that can be set by the user or the manufacturer according to specific needs. It is used to determine whether the map error area is close to the intersection, thereby determining whether the vehicle needs to exit or downgrade the CNGP function near the intersection. If the starting position of the map error area is within the road range, it is determined that the map error area is within the preset intersection range. When the starting point of the map error area is within the preset intersection range, it can be determined that the vehicle needs to exit or downgrade the CNGP function near the intersection.

[0084] Step S300, taking a first position outside a preset intersection range on the wrongly entered lane as an error starting point, and determining a corresponding second position on the wrongly exited lane as an error ending point according to an ending position of the error area on the map;

[0085] In this embodiment, when the map error area is within the preset intersection range, the first position outside the preset intersection range on the wrong entry lane can be used as the error starting point. The distance between the first position and the preset intersection range can be set according to specific needs. For example, the first position can be the boundary of the preset intersection range on the wrong entry lane, or it can be a position at a preset distance (such as 10m, 15m, 20m, etc.) from the boundary. When the vehicle reaches the error starting point on the wrong entry lane, the CNGP function is exited or downgraded. Since the first position is outside the preset intersection range of the intersection, sufficient time and space can be left for the driver to smoothly take over the vehicle after the CNGP function is exited or downgraded. Then, according to the different end positions of the map error area, the corresponding second position on the wrong exit lane can be determined as the error end point.

[0086] In some embodiments, the step S300 of determining the corresponding second position on the exit lane of the intersection as the error end point according to the position information of the map error area includes:

[0087] Step S310, determining whether the end position of the map error area is located on an exit lane connected to an intersection within the preset intersection range;

[0088] Step S311, if the end point position is on an exit lane connected to an intersection within the preset intersection range, the end point position of the map error area is used as a second position, and the second position is used as an error end point;

[0089] Step S312: If the end point position is not located on an exit lane connected to an intersection within the preset intersection range, a position at a third preset distance from the intersection to the vehicle's forward direction is used as a second position, and the second position is used as an incorrect end point.

[0090] Reference Figure 5 , Figure 5This is a schematic diagram of a scenario in which the map error area is on an exit lane within the preset intersection range in the error layer setting method of the present application. Determine whether the end position of the map error area is on an exit lane connected to an intersection within the preset intersection range. When the end position is on an exit lane connected to an intersection within the preset intersection range, it means that the vehicle will not leave the map error area until it leaves the intersection, so the actual end position of the map error area can be used as the second position, and the second position can be used as the error end point. When the end position is not on an exit lane connected to an intersection within the preset intersection range (that is, the end position is on an entry lane within the intersection or within the preset intersection range), it means that the vehicle can leave the map error area without leaving the intersection, so the position of the third preset distance from the intersection to the vehicle's forward direction can be used as the second position, and the second position can be used as the error end point.

[0091] In this embodiment, by judging whether the end position of the map error area is on the exit lane connected to the intersection within the preset intersection range, when the end position is on the exit road connected to the intersection, the end position is taken as the error end position, so that the vehicle can resume the use of the CNGP function only after exiting the end position of the map error area. When the end position is on the exit road connected to the intersection (that is, the end position is on the entry road connected to the intersection or on the intersection), the position of the third preset distance from the intersection to the vehicle's forward direction is taken as the error end point, so that the vehicle can resume the use of the CNGP function only after exiting the intersection, avoiding the restoration of the CNGP function when passing through the intersection, which affects the driver's normal driving behavior when passing through the intersection.

[0092] Step S400: setting a corresponding error layer on a preset navigation map according to the error starting point and the error end point.

[0093] In this embodiment, after obtaining the wrong starting point on each wrong entry lane and the wrong end point on each wrong exit lane, the corresponding wrong lane section, i.e., the lane section from the wrong starting point to the wrong end point, can be determined. Then, according to the wrong lane section, a corresponding error layer is set on the preset navigation map. Thus, when the vehicle is driving according to the preset navigation map with the error layer set, if it enters the wrong lane section, the CNGP function is exited or downgraded. When exiting the wrong lane section, the CNGP function is re-enabled.

[0094] In some embodiments, step S400 of setting a corresponding error layer on a preset navigation map according to the error starting point and the error end point includes:

[0095] Step S410, determining a corresponding wrongly entered lane section according to the wrongly entered lane and the wrong starting point;

[0096] Step S420, determining a corresponding wrong exit lane section according to the wrong exit lane and the wrong end point;

[0097] Step S430: setting a corresponding error layer on a preset navigation map according to the erroneous lane entry section and the erroneous lane exit section.

[0098] In this embodiment, the corresponding wrong lane entry section can be determined according to the wrong lane entry and the wrong starting point, and the corresponding wrong lane exit section can be determined according to the wrong lane exit and the wrong end point. Then, according to the wrong lane entry section and the wrong lane exit section, a corresponding error layer is set on the preset navigation map. As a result, when the vehicle is driving according to the preset navigation map with the error layer set, if it enters the wrong lane entry section, the CNGP function will be exited or downgraded. When exiting the wrong lane exit section, the CNGP function will be re-enabled. As a result, even if there is a map error area within the preset intersection range, the vehicle will not exit or downgrade the CNGP function if the vehicle does not enter the wrong lane entry section. This improves the accuracy of the error layer setting and reduces interference with the normal use of the vehicle's CNGP function.

[0099] In this embodiment, the map error area is obtained by acquiring road information and according to the road information and the preset navigation map. When the map error area is within the preset intersection range, the wrong entry lane and the wrong exit lane corresponding to the map error area are determined; the first position outside the preset intersection range on the wrong entry lane is used as the error starting point, and the second position corresponding to the wrong exit lane is determined as the error end point according to the end position of the map error area. The first position outside the preset intersection range on the wrong entry lane is used as the error starting point, which avoids the immediate exit or downgrade of the CNGP function when the vehicle enters the map error area when the map error area appears at a fork road or intersection, but exits or downgrades the CNGP function before entering the map error area, thereby improving the driver's driving experience and leaving sufficient time and space for the driver's takeover process, so that the driver can smoothly take over. In addition, the corresponding error layer is set on the preset navigation map according to the wrong starting point on the wrong entry lane and the wrong end point on the wrong exit lane. Since the error layer is only set for the entry lane and exit lane affected by the map error area (i.e., the error entry lane and the error exit lane), the normal lanes not affected by the map error area will not be affected, and vehicles traveling on the normal lanes can use the CNGP function to pass normally, which improves the accuracy of the error layer setting and reduces interference with the normal use of the vehicle's CNGP function.

[0100] Further, in another embodiment of the error layer setting method of the present application, the step of taking the first position outside the preset intersection range on the wrongly entered lane as the error starting point in step S300 includes:

[0101] Step S320, judging whether there is a change in the number of lanes of the entry lane within the preset intersection range according to the road information;

[0102] Step S321, if there is a change in the number of lanes, taking the position from the intersection of the dashed and solid lines of the lane line of the wrongly entered lane to the position of the second preset distance away from the forward direction of the vehicle as the first position, and taking the first position as the error starting point;

[0103] Step S322: If there is no change in the number of lanes, a position from the junction of the preset intersection range on the wrong-entering lane and the wrong-entering lane to a third preset distance away from the vehicle's forward direction is taken as the first position, and the first position is taken as the wrong starting point.

[0104] Reference Figure 4, when the map error area is within the preset intersection range, it is determined whether the number of lanes in the entry lane within the preset intersection range has changed (such as an increase in the number of lanes or a decrease in the number of lanes) according to the road information. If the number of lanes in the entry lane within the preset intersection range has changed, the position from the intersection of the dashed and solid lines of the lane lines on the wrong entry lane to the second preset distance (such as 10m, 20m, 30m, etc.) away from the vehicle's forward direction is taken as the first position, and the first position is taken as the error starting point. For example, the position from the change of the number of lanes on the wrong entry lane to the position 10m to 30m away from the vehicle's forward direction can be taken as the first position, so as to leave more space and time for the driver to change lanes. If the number of lanes in the entry lane within the preset intersection range does not change, the position from the intersection of the preset intersection range and the wrong entry lane on the wrong entry lane to the third preset distance (such as 5m, 10m, 15m, etc.) away from the vehicle's forward direction is taken as the first position, and the first position is taken as the error starting point. Therefore, the vehicle CNGP function can be exited or downgraded before the vehicle enters the preset intersection range, avoiding the exit or downgrade of the vehicle CNGP function when approaching the intersection.

[0105] In this embodiment, when there is a change in the number of lanes in the entry lane within the preset intersection range, the error starting point is set at a position at the intersection of the dashed and solid lines of the lane lines on the wrong entry lane to a position away from the vehicle's forward direction by a second preset distance, thereby ensuring that the driver has sufficient time and space to change lanes in the dashed line section of the lane after the vehicle's CNGP function is exited or downgraded, so as to avoid the situation where the vehicle has entered the solid line section of the lane after the vehicle's CNGP function is exited or downgraded, resulting in the driver being unable to change lanes, thereby improving the driving experience after the driver takes over.

[0106] Further, in another embodiment of the error layer setting method of the present application, step S430 of setting a corresponding error layer on the preset navigation map according to the error road segment further includes:

[0107] Step S440, determining a corresponding connecting virtual lane according to the incorrectly entered lane section and the incorrectly exited lane section;

[0108] Step S441: adding the connected virtual lane to the error layer of the preset navigation map.

[0109] After obtaining the wrong lane entry section and the wrong lane exit section, the connecting virtual lane corresponding to the wrong lane entry section and the wrong lane exit section can be determined. The connecting virtual lane is a virtual lane connecting the wrong lane entry section and the wrong lane exit section in the intersection. The connecting virtual lane is added to the error layer of the preset navigation map. In this embodiment, by also adding the connecting virtual lane corresponding to the wrong lane entry section and the wrong lane exit section to the error layer, on the one hand, when the end position of the map error area is before or in the intersection, it is avoided that the vehicle re-enables the CNGP function before or in the intersection with complex vehicle conditions. On the other hand, when the starting position of the map error area is after the intersection, it can be avoided that the vehicle with the CNGP function enabled drives to the map error area (such as a construction area, a diversion area, etc.) on the exit lane in the intersection.

[0110] Furthermore, the following is combined Figure 6 The scene schematic diagram of another embodiment of the error layer setting method shown is used to explain the error layer setting method in detail.

[0111] See also Figure 6 In another embodiment of the error layer setting method of the present application, before the step S400 of setting the corresponding error layer on the preset navigation map according to the error starting point and the error end point, the method further includes:

[0112] Step S450, when the map error area is not within the preset intersection range, the lane within the map error area is used as the wrong lane, the starting position of the map error area is used as the wrong starting point, and the end position of the map error area is used as the wrong end point.

[0113] Reference Figure 6 , the map error area may also appear outside the preset intersection range. When the map error area is not within the preset intersection range, the lane within the map error area can be used as the wrong lane, and the starting position of the map error area can be directly used as the wrong starting point, and the end point of the map error area can be used as the wrong end point. In this embodiment, for the case where the map error area is not within the preset intersection range, the actual starting position and the actual end point of the map error area can be directly used as the corresponding wrong starting point and wrong end point, so as to determine the corresponding wrong lane section according to the wrong lane, the wrong starting point and the wrong end point, and set the corresponding error layer on the preset navigation map. Therefore, there is no need to adjust the actual starting position and the actual end point of the map error area, which improves the convenience of error layer setting.

[0114] In addition, an embodiment of the present application further proposes a computer storage medium, on which a computer program is stored. When the computer program is executed by a processor, the operations in the error layer setting method provided in the above embodiment are implemented, and the specific steps are not repeated here.

[0115] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity / operation / object from another entity / operation / object, and do not necessarily require or imply any such actual relationship or order between these entities / operations / objects; the terms "include", "comprise" or any other variants 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.

[0116] For the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment. The device embodiment described above is only schematic, and the units described as separate components may or may not be physically separated. Some or all of the modules can be selected according to actual needs to achieve the purpose of the present application scheme. Ordinary technicians in this field can understand and implement it without paying creative work.

[0117] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0118] 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 by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application 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 ROM / RAM, disk, CD) as described above, including a number of instructions for a terminal device (which can be a mobile phone, computer, server, vehicle, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0119] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for setting an error layer, characterized in that: The error layer setting method comprises the following steps: Acquire road information, and obtain a map error area based on the road information and a preset navigation map; When the map error area is within a preset intersection range, determining an incorrect entry lane and an incorrect exit lane corresponding to the map error area; Taking a first position outside a preset intersection range on the wrongly entered lane as an error starting point, and determining a corresponding second position on the wrongly exited lane as an error ending point according to an ending position of the error area on the map; According to the wrong starting point and the wrong end point, an error layer corresponding to the lane section from the wrong starting point to the wrong end point is set on a preset navigation map.

2. The error layer setting method according to claim 1, characterized in that: When the map error area is within a preset intersection range, the step of determining the wrong entry lane and the wrong exit lane corresponding to the map error area comprises: When the starting point of the map error area is on an entry lane within the preset intersection range, the entry lane within the map error area is used as an incorrect entry lane, and the lane exiting the map error area within the preset intersection range is used as an incorrect exit lane; When the starting point of the map error area is on the exit lane within the preset intersection range, the entry lane within the preset intersection range that leads to the map error area is used as the wrong entry lane, and the exit lane within the map error area is used as the wrong exit lane.

3. The error layer setting method according to claim 1, characterized in that: When the map error area is within the preset intersection range, the step of determining the wrong entry lane and the wrong exit lane corresponding to the map error area includes: Determining whether the starting point of the map error area is within a road range of a first preset distance centered at the intersection; If the starting point position is within the road range, it is determined that the map error area is within the preset intersection range.

4. The error layer setting method according to claim 1, characterized in that: The step of taking the first position outside the preset intersection range on the wrongly entered lane as the wrong starting point comprises: According to the road information, determining whether there is a change in the number of lanes of the entry lane within the preset intersection range; If there is a change in the number of lanes, the position from the intersection of the dashed and solid lines of the lane line on the wrongly entered lane to the second preset distance away from the forward direction of the vehicle is taken as the first position, and the first position is taken as the error starting point; If there is no change in the number of lanes, the position from the junction of the preset intersection range on the wrong-entry lane and the wrong-entry lane to the third preset distance away from the vehicle's forward direction is taken as the first position, and the first position is taken as the wrong starting point.

5. The error layer setting method according to claim 1, characterized in that: The step of determining the second position corresponding to the wrong exit lane as the wrong end point according to the position information of the wrong area on the map includes: Determining whether the end position of the map error area is located on an exit lane connected to an intersection within the preset intersection range; If the end point position is located on an exit lane connected to an intersection within the preset intersection range, the end point position of the map error area is used as a second position, and the second position is used as an error end point; If the end point position is not located on an exit lane connected to an intersection within the preset intersection range, a position at a third preset distance from the intersection to the vehicle's forward direction is taken as a second position, and the second position is taken as an incorrect end point.

6. The error layer setting method according to claim 1, characterized in that: The step of setting an error layer corresponding to the road section from the error starting point to the error end point on a preset navigation map according to the error starting point and the error end point comprises: Determine a corresponding wrongly entered lane section according to the wrongly entered lane and the wrong starting point; Determining a corresponding wrong exit lane section according to the wrong exit lane and the wrong end point; According to the incorrectly entered lane section and the incorrectly exited lane section, a corresponding error layer is set on the preset navigation map.

7. The error layer setting method according to claim 6, characterized in that: The step of setting a corresponding error layer on the preset navigation map according to the error road section also includes: Determining a corresponding connecting virtual lane according to the incorrectly entered lane section and the incorrectly exited lane section; The connected virtual lane is added to an error layer of the preset navigation map.

8. The error layer setting method according to any one of claims 1 to 7, characterized in that: Before the step of setting an error layer corresponding to the road section from the error starting point to the error end point on a preset navigation map according to the error starting point and the error end point, the step further includes: When the map error area is not within the preset intersection range, the lane within the map error area is used as the wrong lane, the starting position of the map error area is used as the wrong starting point, and the end position of the map error area is used as the wrong end point.

9. An error layer setting device, characterized in that: The error layer setting device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program implements the steps of the method as described in any one of claims 1 to 8 when executed by the processor.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the error layer setting method according to any one of claims 1 to 8 are implemented.

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