A vehicle-mounted dynamic integrated navigation system

Abstract

The invention relates to the technical field of vehicle navigation, and discloses a vehicle-mounted dynamic combined navigation system, comprising: a node data extraction module, which generates a first node set associated with each node based on map data, wherein the nodes in the first node set are first nodes; a node feature generation module, which generates associated features for the nodes; an inertial navigation module, which generates first positioning information of the vehicle; a first node prejudgment module, which judges the nodes passed by the vehicle before reaching the first pre-node; a probability parameter calculation module, which is used to calculate the probability parameters of the associated nodes of the first pre-node; and a combined navigation module, which judges whether to update the positioning information and the navigation path based on the associated feature values ​​of the first pre-node and the first front node and the probability parameters of the associated nodes of the first pre-node; the system of the invention is updated through the positioning information.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle navigation, and more specifically, to a vehicle-mounted dynamic combined navigation system. Background Art

[0002] Although the navigation system can generate updated navigation routes through offline maps and path algorithms, navigation will still fail in places where there is no GPS or the GPS signal is weak because the position cannot be located. In order to solve this problem, inertial navigation is combined in the prior art to solve this problem. However, inertial navigation has the problem of error amplification as the distance increases, and is only applicable to the situation of short-term loss of GPS signal. Summary of the invention

[0003] The present invention provides a vehicle-mounted dynamic combined navigation system, which solves the problem in the related art that the position deviation generated by relying solely on inertial navigation is amplified along the travel distance.

[0004] According to one aspect of the present invention, there is provided a vehicle-mounted dynamic integrated navigation system, comprising:

[0005] A map database, which is used to store map data, including path information and node information;

[0006] A driving database, which is used to store historical driving information;

[0007] A node data extraction module generates a first node set associated with each node based on the map data, wherein the nodes in the first node set are first nodes;

[0008] The first node in the first node set of node A is a node adjacent to node A;

[0009] The node feature generation module generates an association feature for a node. The association feature of a node is the association feature between the node and the first node of its first node set. The calculation formula is as follows:

[0010]

[0011] Among them, W 0 represents the node to which the first node set belongs, W i represents the i-th node in the first node set, c(W 0 , W i ) indicates that the driving information in the driving database has continuous passing W 0 and W i The number of times, c (W 0 ) indicates that W appears in the driving information in the driving database 0 The number of times, c (W i) indicates that W appears in the driving information in the driving database i The number of times, N represents the total number of nodes in the driving database.

[0012] An inertial navigation module, which locates the vehicle based on a gyroscope sensor and generates first positioning information of the vehicle;

[0013] A first node prediction module, which determines a node that the vehicle is about to pass through based on the first positioning information generated by the inertial navigation module, marks it as a first pre-node, and determines a node that the vehicle passes through before reaching the first pre-node based on the navigation path, and marks it as a first front node;

[0014] An active correction module, which extracts the correlation feature of the first pre-node and the first previous node from the correlation feature of the first pre-node, determines whether the value of the correlation feature of the first pre-node and the first previous node is a negative value, and if it is a negative value, reminds the user of the time and operation of arriving at the first pre-node;

[0015] A probability parameter calculation module extracts all nodes that have been passed on the navigation path, extracts the associated nodes of the first pre-node, generates a second node set from the first pre-node, the associated nodes of the first pre-node and all nodes that have been passed on the navigation path, and calculates the probability parameters of the associated nodes of the first pre-node;

[0016] The calculation formula of the probability parameter is as follows:

[0017]

[0018] Where P(x i ) represents the probability parameter of the i-th associated node of the first prenode, and N(i) represents the nodes in the second node set adjacent to the i-th associated node of the first prenode;

[0019]

[0020] The combined navigation module reminds the user if the associated characteristic value between the first pre-node and the first front-node is a negative value;

[0021] If an instruction conflict occurs between the first pre-node and the first front-node, a probability parameter calculation module is started to calculate the probability parameters of the associated nodes of the first pre-node, and the node that the user is about to reach is determined based on the current node operation used, and the node is marked as the second pre-node;

[0022] Extracting the next node of the first pre-node on the navigation path and marking it as the third pre-node;

[0023] Determine whether the second pre-node is the same as the third pre-node, and if the second pre-node is the same as the third pre-node, update the first positioning information to the position of the first pre-node;

[0024] If the second pre-node is different from the third pre-node, the following judgment is initiated:

[0025] Extracting the correlation feature value between the second pre-node and the first pre-node, and if the correlation feature value is a positive value, updating the navigation path;

[0026] If the associated characteristic value is a negative value, compare the probability parameters of the second pre-node with other associated nodes of the first pre-node, and if the probability parameter of the second pre-node is the largest among the associated nodes of the first pre-node, update the navigation path;

[0027] If the probability parameter of the second pre-node is not the maximum value among the associated nodes of the first pre-node, the first positioning information is updated to the position of the first pre-node.

[0028] Furthermore, the historical travel information includes information on the paths and nodes traveled through.

[0029] Furthermore, the inertial navigation module needs to be connected to the vehicle's hardware sensor devices.

[0030] Furthermore, the first node in the first node set is directly connected to the A node via a path.

[0031] Furthermore, the first node prediction module determines the node that the vehicle is about to pass through based on the first positioning information and in cooperation with the inertial navigation module.

[0032] Furthermore, if the user finds that the time to arrive at the first pre-node deviates greatly from the actual driving time, a correction instruction is sent to the active correction module. After receiving the correction instruction, the active correction module updates the first positioning information to the position information of the first pre-node when the user performs the operation required for the first pre-node.

[0033] Furthermore, the navigation path is not updated when the first positioning information is updated.

[0034] Furthermore, an instruction conflict refers to performing a node operation ahead of the instruction or performing a node operation after the instruction. An example of performing a node operation ahead of the instruction is that the vehicle performs the operation required at the node when the vehicle has not reached the node in the first positioning information. An example of performing a node operation after the instruction is that the vehicle performs the operation required at the node after the vehicle has passed the node in the first positioning information.

[0035] The present invention provides a vehicle-mounted dynamic integrated navigation method, which uses the above-mentioned vehicle-mounted dynamic integrated navigation system to perform the following steps:

[0036] Step 101, generating a first node set associated with each node based on map data, where the nodes in the first node set are first nodes;

[0037] Step 102, generating an association feature for the node, where the association feature of the node is an association feature between the node and the first node of the first node set;

[0038] Step 103, based on the first positioning information generated by the inertial navigation module, determine the node that the vehicle is about to pass through, mark it as a first pre-node, and based on the navigation path, determine the node that the vehicle passes through before reaching the first pre-node, and mark it as a first front node;

[0039] Step 104, extracting the correlation feature of the first pre-node and the first previous node from the correlation feature of the first pre-node, and determining whether the value of the correlation feature of the first pre-node and the first previous node is a negative value, and if it is a negative value, reminding the user of the time and operation of arriving at the first pre-node;

[0040] Step 105 : based on the correction instruction issued by the user, when the user performs the operation required by the first pre-node, the first positioning information is updated to the position information of the first pre-node.

[0041] The beneficial effects of the present invention are:

[0042] The present invention uses algorithmic logic to determine whether to update the position or the navigation path when there is a conflict in instructions, and fully utilizes the characteristic of small short-term deviation of inertial navigation through the algorithm, thereby solving the problem that the position deviation generated by relying solely on inertial navigation in the absence of GPS signals is amplified as the journey progresses.

[0043] It should be noted that, considering the problem of signal acquisition, the map database and driving database in the present invention can be local databases that do not require networking. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 It is a module schematic diagram of a vehicle-mounted dynamic integrated navigation system of the present invention;

[0045] Figure 2 The present invention is a flow chart of a vehicle-mounted dynamic combined navigation method.

[0046] In the figure: map database 101, driving database 102, node data extraction module 103, node feature generation module 104, inertial navigation module 105, first node prediction module 106, active correction module 107, probability parameter calculation module 108, combined navigation module 109. DETAILED DESCRIPTION

[0047] The subject matter described herein will now be discussed with reference to example embodiments. It should be understood that the discussion of these embodiments is only to enable those skilled in the art to better understand and implement the subject matter described herein, and is not a limitation of the scope of protection, applicability or examples set forth in the claims. The functions and arrangements of the elements discussed may be changed without departing from the scope of protection of the contents of this specification. Various examples may omit, replace or add various processes or components as needed. In addition, the features described relative to some examples may also be combined in other examples.

[0048] Embodiment 1

[0049] like Figure 1 As shown, a vehicle-mounted dynamic integrated navigation system comprises:

[0050] The map database 101 is used to store map data. The map data includes path information and node information. Generally speaking, a path represents a road on a map, and a node represents an intersection between roads.

[0051] The driving database 102 is used to store historical driving information; the historical driving information is for all users who use the system, and of course also for users who do not use the system.

[0052] The historical travel information includes at least information on the routes and nodes traveled through.

[0053] A node data extraction module 103 generates a first node set associated with each node based on the map data, and the nodes in the first node set are first nodes;

[0054] The first node in the first node set of node A is a node adjacent to node A. The first node in the first node set is directly connected to node A through a path.

[0055] The node feature generation module 104 generates an association feature for a node. The association feature of a node is an association feature between the node and the first node of the first node set. The calculation formula is as follows:

[0056]

[0057] Among them, W 0 represents the node to which the first node set belongs, W i represents the i-th node in the first node set, c(W 0 , W i ) indicates that the driving information in the driving database 102 has continuously passed W 0 and W i The number of times, c (W 0) indicates that W appears in the driving information in the driving database 102 0 The number of times, c (W i ) indicates that W appears in the driving information in the driving database 102 i The number of times N represents the total number of nodes in the driving database 102.

[0058] An inertial navigation module 105 locates the vehicle based on a gyroscopic sensor and generates first positioning information of the vehicle;

[0059] Necessarily, the inertial navigation module 105 needs to be connected to the vehicle's hardware sensor equipment, such as a gyroscope or other sensor that can be applied to inertial navigation. For specific information on how to locate the vehicle through the data of the hardware sensor, reference can be made to the existing inertial navigation system.

[0060] The first node prediction module 106 determines the node that the vehicle is about to pass through based on the first positioning information generated by the inertial navigation module 105, marks it as the first pre-node, and determines the node that the vehicle passes through before reaching the first pre-node based on the navigation path, and marks it as the first front node.

[0061] The first positioning information is the current position of the vehicle determined by the inertial navigation module 105, and is used in conjunction with the inertial navigation module 105 to determine the driving direction of the vehicle and the node that the vehicle is about to pass.

[0062] An active correction module 107 extracts the correlation feature of the first pre-node and the first previous node from the correlation feature of the first pre-node, determines whether the value of the correlation feature of the first pre-node and the first previous node is a negative value, and if it is a negative value, reminds the user of the time and operation of arriving at the first pre-node;

[0063] If the user finds that the time to reach the first pre-node deviates greatly from the actual driving time, a correction instruction can be issued. After receiving the correction instruction, the active correction module 107 updates the first positioning information to the position information of the first pre-node when the user performs the operation required for the first pre-node.

[0064] The probability parameter calculation module 108 extracts all nodes that have been passed on the navigation path, extracts the associated nodes of the first pre-node, generates a second node set by combining the first pre-node, the associated nodes of the first pre-node and all nodes that have been passed on the navigation path, and calculates the probability parameters of the associated nodes of the first pre-node;

[0065] The calculation formula of the probability parameter is as follows:

[0066]

[0067] Where P(x i) represents the probability parameter of the i-th associated node of the first prenode, and N(i) represents the nodes in the second node set adjacent to the i-th associated node of the first prenode;

[0068]

[0069] The combined navigation module 109 reminds the user if the correlation characteristic value between the first pre-node and the first previous node is a negative value;

[0070] If an instruction conflict occurs between the first pre-node and the first front node, the probability parameter calculation module 108 is started to calculate the probability parameters of the associated nodes of the first pre-node, determine the node that the user is about to reach based on the current node operation used, and mark the node as the second pre-node;

[0071] Extracting the next node of the first pre-node on the navigation path and marking it as the third pre-node;

[0072] Determine whether the second pre-node is the same as the third pre-node, and if the second pre-node is the same as the third pre-node, update the first positioning information to the position of the first pre-node;

[0073] If the second pre-node is different from the third pre-node, the following judgment is initiated:

[0074] Extracting the correlation feature value between the second pre-node and the first pre-node, and if the correlation feature value is a positive value, updating the navigation path;

[0075] If the associated characteristic value is a negative value, compare the probability parameters of the second pre-node with other associated nodes of the first pre-node, and if the probability parameter of the second pre-node is the largest among the associated nodes of the first pre-node, update the navigation path;

[0076] If the probability parameter of the second pre-node is not the maximum value among the associated nodes of the first pre-node, the first positioning information is updated to the position of the first pre-node.

[0077] The navigation path is not updated when the first positioning information is updated.

[0078] An instruction conflict refers to performing a node operation ahead of the instruction or performing a node operation after the instruction. An example of performing a node operation ahead of the instruction is that the vehicle performs the operation required at the node when the vehicle has not reached the node in the first positioning information. An example of performing a node operation after the instruction is that the vehicle performs the operation required at the node after the vehicle has passed the node in the first positioning information.

[0079] In the above-mentioned embodiment of the present invention, the inertial navigation module 105 is also used to determine the operation of the vehicle, and the operation of the vehicle at least includes various turns, corresponding to the vehicle operation performed at the node.

[0080] like Figure 2 As shown, in one embodiment of the present invention, a vehicle-mounted dynamic integrated navigation method based on the above system is provided, comprising the following steps:

[0081] Step 101, generating a first node set associated with each node based on map data, where the nodes in the first node set are first nodes;

[0082] Step 102, generating an association feature for the node, where the association feature of the node is an association feature between the node and the first node of the first node set;

[0083] Step 103, based on the first positioning information generated by the inertial navigation module 105, determine the node that the vehicle is about to pass through, mark it as a first pre-node, and based on the navigation path, determine the node that the vehicle passes through before reaching the first pre-node, and mark it as a first front node;

[0084] Step 104, extracting the correlation feature of the first pre-node and the first previous node from the correlation feature of the first pre-node, and determining whether the value of the correlation feature of the first pre-node and the first previous node is a negative value, and if it is a negative value, reminding the user of the time and operation of arriving at the first pre-node;

[0085] Step 105 : based on the correction instruction issued by the user, when the user performs the operation required by the first pre-node, the first positioning information is updated to the position information of the first pre-node.

[0086] An embodiment of the present embodiment is described above, but the present embodiment is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present embodiment, ordinary technicians in this field can also make many forms without departing from the purpose of the present embodiment and the scope of protection of the claims, all of which are within the protection of the present embodiment.

Claims

1. A vehicle-mounted dynamic integrated navigation system, It is characterized in that include: A map database, which is used to store map data, including path information and node information; A driving database, which is used to store historical driving information; A node data extraction module generates a first node set associated with each node based on the map data, wherein the nodes in the first node set are first nodes; For the first node in the first node set of node A, the first node is a node adjacent to node A; The node feature generation module generates an associated feature for a node. The associated feature of a node is the associated feature between the node and the first node of its first node set. The calculation formula is as follows: Among them, W 0 represents the node to which the first node set belongs, W i represents the i-th node in the first node set, c(W 0 , W i ) indicates that the driving information in the driving database has continuously passed W 0 and W i The number of times, c (W 0 ) indicates that W appears in the driving information in the driving database 0 The number of times, c (W i ) indicates that W appears in the driving information in the driving database i The number of times, N represents the total number of nodes in the driving database; An inertial navigation module, which locates the vehicle based on a gyroscope sensor and generates first positioning information of the vehicle; A first node prediction module, which determines a node that the vehicle is about to pass through based on the first positioning information generated by the inertial navigation module, marks it as a first pre-node, and determines a node that the vehicle passes through before reaching the first pre-node based on the navigation path, and marks it as a first front node; An active correction module, which extracts the correlation feature of the first pre-node and the first previous node from the correlation feature of the first pre-node, determines whether the value of the correlation feature of the first pre-node and the first previous node is a negative value, and if it is a negative value, reminds the user of the time and operation of arriving at the first pre-node; A probability parameter calculation module, which extracts all nodes that have been passed on the navigation path, extracts the associated nodes of the first pre-node, generates a second node set by combining the first pre-node, the associated nodes of the first pre-node and all nodes that have been passed on the navigation path, and calculates the probability parameters of the associated nodes of the first pre-node; The calculation formula of the probability parameter is as follows: Where P(x i ) represents the probability parameter of the i-th associated node of the first prenode, N(i) represents the node adjacent to the i-th associated node of the first prenode in the second node set; The combined navigation module performs the following operations: if the associated characteristic value between the first pre-node and the first front-node is a negative value, reminding the user; If an instruction conflict occurs between the first pre-node and the first front-node, a probability parameter calculation module is started to calculate the probability parameters of the associated nodes of the first pre-node, and the node that the user is about to reach is determined based on the current node operation used, and the node is marked as the second pre-node; Extracting the next node of the first pre-node on the navigation path and marking it as the third pre-node; Determine whether the second pre-node is the same as the third pre-node, and if the second pre-node is the same as the third pre-node, update the first positioning information to the position of the first pre-node; If the second pre-node is different from the third pre-node, the following judgment is initiated: Extracting the correlation feature value between the second pre-node and the first pre-node, and if the correlation feature value is a positive value, updating the navigation path; If the associated characteristic value is a negative value, compare the probability parameters of the second pre-node with other associated nodes of the first pre-node, and if the probability parameter of the second pre-node is the largest among the associated nodes of the first pre-node, update the navigation path; If the probability parameter of the second pre-node is not the maximum value among the associated nodes of the first pre-node, the first positioning information is updated to the position of the first pre-node.

2. A vehicle-mounted dynamic integrated navigation system according to claim 1, It is characterized in that The historical driving information includes the information of the paths and nodes traveled through.

3. The vehicle-mounted dynamic integrated navigation system according to claim 1, It is characterized in that The inertial navigation module needs to be connected to the vehicle's hardware sensor devices.

4. The vehicle-mounted dynamic integrated navigation system according to claim 1, It is characterized in that The first node in the first node set is directly connected to the A node via a path.

5. The vehicle-mounted dynamic integrated navigation system according to claim 1, It is characterized in that The first node prediction module determines the driving direction of the vehicle and the node that the vehicle is about to pass through in cooperation with the inertial navigation module based on the first positioning information.

6. The vehicle-mounted dynamic integrated navigation system according to claim 1, It is characterized in that If the user finds that the time to arrive at the first pre-node deviates greatly from the actual driving time, a correction instruction is sent to the active correction module. After receiving the correction instruction, the active correction module updates the first positioning information to the position information of the first pre-node when the user performs the operation required for the first pre-node.

7. The vehicle-mounted dynamic integrated navigation system according to claim 1, It is characterized in that The navigation path is not updated when the first positioning information is updated.

8. The vehicle-mounted dynamic integrated navigation system according to claim 1, It is characterized in that A command conflict refers to performing a node operation ahead of the command or performing a node operation after the command. Performing a node operation ahead of the command means that the vehicle performs the operation that needs to be performed at the node when the vehicle has not reached the node in the first positioning information. Performing a node operation after the command means that the vehicle performs the operation that needs to be performed at the node after the vehicle has passed the node in the first positioning information.

9. A vehicle-mounted dynamic combined navigation method, It is characterized in that The following steps are performed using a vehicle-mounted dynamic integrated navigation system as described in any one of claims 1 to 8: Step 101, generating a first node set associated with each node based on map data, where the nodes in the first node set are first nodes; Step 102, generating an association feature for the node, where the association feature of the node is an association feature between the node and the first node of the first node set; Step 103, based on the first positioning information generated by the inertial navigation module, determine the node that the vehicle is about to pass through, mark it as a first pre-node, and based on the navigation path, determine the node that the vehicle passes through before reaching the first pre-node, and mark it as a first front node; Step 104, extracting the correlation feature of the first pre-node and the first previous node from the correlation feature of the first pre-node, and determining whether the value of the correlation feature of the first pre-node and the first previous node is a negative value, and if it is a negative value, reminding the user of the time and operation of arriving at the first pre-node; Step 105 : based on the correction instruction issued by the user, when the user performs the operation required by the first pre-node, the first positioning information is updated to the position information of the first pre-node.

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