Vehicle navigation method and device

Abstract

The present application relates to the field of autonomous driving technology, and more particularly to a vehicle navigation method and apparatus, wherein the method comprises: obtaining coordinate data of a vehicle's starting point and end point, matching the nearest lane from a pre-constructed lane network based on the coordinate data of the starting point and end point, wherein the lane network is constructed based on a lateral variable lane network, and calculating the shortest path based on the connectivity relationship between the nearest lane and the lane network to obtain a path set of the shortest path, and interpolating the path set at preset intervals to obtain a set of route points to obtain a global navigation path. The embodiments of the present application can perform real-time shortest path planning based on the connectivity relationship between lanes. By utilizing the constructed lane network, the output efficiency of navigation information is improved, thereby ensuring the accuracy and reliability of the path planning results, making vehicle navigation more accurate and efficient.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving technology, and in particular to a vehicle navigation method and device. Background Art

[0002] With the vigorous development of artificial intelligence technology, autonomous driving technology has received more attention, and vehicles equipped with autonomous driving functions are becoming more and more common.

[0003] Among related technologies, intelligent navigation is an important component of autonomous driving technology. Through high-precision map information, obstacle perception, vehicle location and other information, it rationally plans the optimal path to guide the vehicle to its destination.

[0004] However, in related technologies, the path planning of vehicle navigation does not fully consider the horizontal and vertical traffic relationships between lanes and the traffic rules and constraints of the roads, resulting in the inability to guarantee the safety and accuracy of the planned path. In addition, real-time dynamic planning of the path is not achieved, which reduces the work efficiency of vehicle navigation and urgently needs to be solved. Summary of the Invention

[0005] The present application provides a vehicle navigation method and device to solve the problems that the path planning of vehicle navigation does not fully consider the horizontal and vertical traffic relationships between lanes and the traffic rules and constraints of roads, resulting in the inability to ensure the safety and accuracy of the planned path, and the failure to achieve real-time dynamic planning of the path, thereby reducing the work efficiency of vehicle navigation.

[0006] A first aspect embodiment of the present application provides a vehicle navigation method, comprising the following steps: obtaining coordinate data of a vehicle's starting point and end point; matching the nearest lane from a pre-constructed lane network based on the coordinate data of the starting point and the end point, wherein the lane network is constructed based on a lateral variable lane network; calculating the shortest path based on the connectivity relationship between the nearest lane and the lane network to obtain a path set of the shortest path, and interpolating the path set at preset intervals to obtain a route point set to obtain a global navigation path.

[0007] According to the above technical means, the embodiment of the present application can perform real-time shortest path planning based on the connectivity relationship between lanes. By utilizing the constructed lane network, the output efficiency of navigation information is improved, thereby ensuring the accuracy and reliability of the path planning results, making vehicle navigation more accurate and efficient.

[0008] Optionally, in one embodiment of the present application, after obtaining the global navigation path, it also includes: obtaining the current position of the vehicle; matching the current position with the nearest lane of the global navigation path; and obtaining a route of a preset distance forward based on the nearest lane to obtain a local navigation path.

[0009] According to the above technical means, the embodiment of the present application can obtain the current position of the vehicle after obtaining the global navigation path, and match the current position with the nearest lane of the global navigation path, and obtain a route of a preset distance forward based on the nearest lane, thereby obtaining a local navigation path, thereby improving the efficiency of path updates during vehicle navigation and ensuring the user experience.

[0010] In addition, in one embodiment of the present application, after obtaining the local navigation path, it also includes: calculating the current distance to the traffic light, the distance to the stop line and / or the turn signal based on the local navigation path to generate navigation information; and controlling the vehicle to prompt the user based on the navigation information.

[0011] According to the above-mentioned technical means, after obtaining the local navigation path, the embodiment of the present application can calculate the current distance to the traffic light, the distance to the stop line and / or the turn signal according to the local navigation path to generate navigation information, and control the vehicle to prompt the user according to the navigation information, so that the obtained navigation route meets the traffic rules constraints and ensures the safety of the user during the planned route driving process.

[0012] Specifically, in one embodiment of the present application, before matching the nearest lane, it also includes: based on the traffic flow attributes of two parallel and adjacent lanes in the same direction, traversing all map lane data to construct a lateral variable lane network; in path planning, traversing all lane centerline data, and outputting the first and last points as nodes of the lane network according to the direction of the lane to construct a lane network node; constructing the lane network based on the lateral variable lane network and the lane network nodes.

[0013] According to the above technical means, the embodiment of the present application can obtain a lane network by constructing a transverse variable lane network and constructing lane network nodes. By fully considering the traffic relationship between lanes, a lane network with transverse and longitudinal connectivity relationships can be obtained, thereby providing necessary lane-related data for further road planning.

[0014] A second aspect of the present application provides a vehicle navigation device, including: an acquisition module for acquiring coordinate data of the vehicle's starting point and end point; a matching module for matching the nearest lane from a pre-constructed lane network based on the coordinate data of the starting point and the end point, wherein the lane network is constructed based on a lateral variable lane network; a navigation module for calculating the shortest path based on the connectivity relationship between the nearest lane and the lane network, obtaining a path set of the shortest path, and interpolating the path set at preset intervals to obtain a route point set to obtain a global navigation path.

[0015] Optionally, in one embodiment of the present application, the navigation module includes: a first acquisition unit, used to obtain the current position of the vehicle after obtaining the global navigation path; a matching unit, used to match the current position with the nearest lane of the global navigation path; and a second acquisition unit, used to obtain a route of a preset distance forward based on the nearest lane to obtain a local navigation path.

[0016] In addition, in one embodiment of the present application, it also includes: a calculation module, which is used to calculate the current distance to the traffic light, the distance to the stop line and / or the turn signal according to the local navigation path after obtaining the local navigation path to generate navigation information; and a prompt module, which controls the vehicle to prompt the user according to the navigation information.

[0017] Specifically, in one embodiment of the present application, the matching module includes: a traversal unit, which is used to traverse all map lane data to construct a lateral variable lane network based on the traffic flow attributes of two parallel and adjacent lanes in the same direction before matching the nearest lane; a first construction unit, which is used to traverse all lane centerline data in path planning, output the first and last points as nodes of the lane network according to the direction of the lane, and construct a lane network node; a second construction unit, which is used to construct the lane network based on the lateral variable lane network and the lane network node.

[0018] A third aspect of the present application provides a vehicle, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle navigation method as described in the above embodiment.

[0019] A fourth aspect of the present application provides a computer-readable storage medium, which stores a computer program that, when executed by a processor, implements the vehicle navigation method as described above.

[0020] Beneficial effects of this application:

[0021] (1) The embodiments of the present application can perform real-time shortest path planning based on the connectivity relationship between lanes. By utilizing the constructed lane network, the output efficiency of navigation information is improved, thereby ensuring the accuracy and reliability of the path planning results, making vehicle navigation more accurate and efficient.

[0022] (2) After obtaining the global navigation path, the embodiment of the present application can obtain the current position of the vehicle, match the current position with the nearest lane of the global navigation path, and obtain a route of a preset distance forward based on the nearest lane, thereby obtaining a local navigation path, thereby improving the efficiency of path updates during vehicle navigation and ensuring the user experience.

[0023] (3) The embodiment of the present application can obtain a lane network by constructing a transverse variable lane network and constructing lane network nodes. By fully considering the traffic relationship between lanes, a lane network with transverse and longitudinal connectivity can be obtained, thereby providing necessary lane-related data for further road planning.

[0024] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0026] Figure 1 A flowchart of a vehicle navigation method provided according to an embodiment of the present application;

[0027] Figure 2 A logic flow chart of a vehicle navigation method according to an embodiment of the present application;

[0028] Figure 3 Schematic diagram of the structure of a vehicle navigation device according to an embodiment of the present application;

[0029] Figure 4 Schematic diagram of the structure of a vehicle according to an embodiment of the present application.

[0030] Among them, 10 is a navigation device of a vehicle; 100 is an acquisition module, 200 is a matching module, and 300 is a navigation module; 401 is a memory, 402 is a processor, and 403 is a communication interface. DETAILED DESCRIPTION

[0031] The following describes in detail embodiments of the present application, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0032] The following describes a vehicle navigation method and device according to an embodiment of the present application with reference to the accompanying drawings. In response to the problem mentioned in the background art center that the path planning of vehicle navigation does not fully consider the horizontal and vertical traffic relationships between lanes and the traffic rules and constraints of the road, resulting in the inability to ensure the safety and accuracy of the planned path, and the failure to implement real-time dynamic planning of the path, which reduces the efficiency of vehicle navigation, the present application provides a vehicle navigation method, which obtains the coordinate data of the vehicle's starting point and end point, and then matches the nearest lane from a pre-constructed lane network based on the coordinate data of the starting point and end point, wherein the lane network is constructed based on a lateral variable lane network, calculates the shortest path based on the connectivity relationship between the nearest lane and the lane network, obtains a path set of the shortest path, and interpolates the path set at a preset interval to obtain a set of route points to obtain a global navigation path, thereby improving the output efficiency of navigation information, thereby ensuring the accuracy and reliability of the path planning results, and making vehicle navigation more accurate and efficient. Thus, the present application solves the problem that the path planning of vehicle navigation does not fully consider the horizontal and vertical traffic relationships between lanes and the traffic rules and constraints of the road, resulting in the inability to ensure the safety and accuracy of the planned path, and the failure to implement real-time dynamic planning of the path, which reduces the efficiency of vehicle navigation.

[0033] Specifically, Figure 1 A flowchart of a vehicle navigation method provided in an embodiment of the present application.

[0034] like Figure 1 As shown, the vehicle navigation method includes the following steps:

[0035] In step S101 , the coordinate data of the starting point and the end point of the vehicle are acquired.

[0036] It can be understood that in the embodiment of the present application, the starting point of the vehicle can be the current location of the vehicle, the end point of the vehicle can be the destination that the vehicle needs to reach, and the coordinate data of the starting point and the end point can be the coordinate position information of the lane network pre-constructed in the following steps.

[0037] The embodiment of the present application can obtain the coordinate data of the starting point and the end point of the vehicle, thereby obtaining the starting point position information of the required planned path, so as to further perform the path planning in the following steps.

[0038] In step S102, the nearest lane is matched from a pre-constructed lane network according to the coordinate data of the start point and the end point, wherein the lane network is constructed based on a lateral variable lane network.

[0039] It can be understood that the pre-constructed lane network in the embodiment of the present application can be a network layer that contains the interaction and parallel information of multiple lane lines. The lane network can be constructed and obtained based on the lateral variable lane network by combining lateral feasibility changes.

[0040] In some embodiments, global path planning can be performed based on a pre-constructed lane network using a shortest path algorithm, such as the Dijkstra algorithm, to obtain a global path. Then, based on the coordinate data of the start and end points in the pre-constructed lane network, the closest lane in the lane network is obtained to obtain a matching result.

[0041] The embodiment of the present application can match the nearest lane from a pre-constructed lane network based on the coordinate data of the starting point and the end point, and the lane network is constructed based on a lateral variable lane network, so as to obtain the best lane with the shortest distance from the starting point, and further plan to adapt to the lane network, thereby improving the intelligence level of the navigation process.

[0042] Specifically, in one embodiment of the present application, before matching the nearest lane, it also includes: based on the traffic flow attributes of two parallel and adjacent lanes in the same direction, traversing all map lane data to construct a lateral variable lane network; in path planning, traversing all lane centerline data, and outputting the first and last points as nodes of the lane network according to the direction of the lane to construct a lane network node; constructing a lane network based on the lateral variable lane network and the lane network nodes.

[0043] It is understood that in this embodiment of the present application, the traffic flow attributes of two parallel, same-direction adjacent lanes can include a variable lane state and a non-variable lane state. If two parallel, same-direction adjacent lanes are in the variable lane state, a transverse variable road is created between the two lanes. A lane node can be a starting point located on the lane centerline along the lane's travel direction, connecting two intersecting lanes.

[0044] In the actual implementation process, since there are multiple lane lines running parallel in road traffic, it is necessary to consider lane changes in the lateral direction. The lane centerline data in the high-precision map can be used to determine whether the lane can change to the left or right based on the attributes that affect lane changes in the left and right lane edge attributes, such as solid lines and dotted lines. If the lane change requirements are met, a connecting line is constructed at the starting point of the center lines of the two lanes, and the lane change direction is given. In this way, all map lane data are traversed to obtain a lateral variable lane network.

[0045] In path planning, the start and end points of lane lines are determined by segment node numbers. To accurately match corresponding segments, a lane network node must be constructed. This process traverses all lane centerline data and, depending on the lane's direction, outputs the first and last points on the lane centerline as lane network nodes. The desired lane network is then derived from the resulting lateral variable lane network, lane network nodes, and lane centerlines.

[0046] The embodiment of the present application can obtain a lane network by constructing a transverse variable lane network and constructing lane network nodes. By fully considering the traffic relationship between lanes, a lane network with transverse and longitudinal connectivity can be obtained, thereby providing necessary lane-related data for further road planning.

[0047] In step S103, the shortest path is calculated based on the connectivity relationship between the nearest lane and the lane network to obtain a path set of the shortest path, and the path set is interpolated at a preset interval to obtain a route point set to obtain a global navigation path.

[0048] It can be understood that in the embodiment of the present application, the path set of the shortest path can be a lane ID set of the obtained shortest path. Interpolating the path set according to the preset interval can ultimately output a route point set with a certain lane interval, thereby obtaining a global navigation path.

[0049] It should be noted that the preset interval is set by those skilled in the art according to actual conditions and is not specifically limited here.

[0050] In some embodiments, the distances from the starting point and the end point to the lane nodes can be calculated based on the constructed lane network to match them to the nearest lane network node. Then, based on the node attributes, the corresponding nearest lane can be determined, and the Dijkstra algorithm can be used to search for the shortest route from the starting lane to the end lane. Based on the constructed lane network, a global path lane line ID set is obtained, and the lane line ID is used to obtain the lane centerline point set. The obtained point set is processed using the interpolation method to obtain trajectory points with an interval of 1 meter, thereby ensuring the smoothness of the global path.

[0051] The embodiment of the present application can calculate the shortest path based on the connectivity relationship between the nearest lane and the lane network, obtain a path set of the shortest path, and interpolate the path set according to a preset interval to obtain a route point set to obtain a global navigation path, thereby meeting the user's navigation needs, ensuring the reliability of the planned path, and improving the user's driving experience during navigation.

[0052] Optionally, in one embodiment of the present application, after obtaining the global navigation path, it also includes: obtaining the current position of the vehicle; matching the current position with the nearest lane of the global navigation path; obtaining a route of a preset distance forward based on the nearest lane to obtain a local navigation path.

[0053] It can be understood that in the embodiment of the present application, since the global path planning requires a lot of data for the entire route planned based on the starting point and the end point, it is necessary to push the local path based on the real-time position of the vehicle. The vehicle-side positioning function can be used to transmit positioning data in real time and match it with the global path trajectory point. The nearest trajectory point is matched to obtain the nearest lane in the global path, and based on the nearest lane, the route of a preset distance is obtained forward. For example, a 2-kilometer route can be obtained forward to explore the range within 2 kilometers, thereby obtaining a local navigation path and pushing it to the vehicle.

[0054] It should be noted that the preset distance is set by those skilled in the art according to actual conditions and is not specifically limited here.

[0055] After obtaining the global navigation path, the embodiment of the present application can obtain the current position of the vehicle, match the current position with the nearest lane of the global navigation path, and obtain a route of a preset distance forward based on the nearest lane, thereby obtaining a local navigation path, thereby improving the efficiency of path updates during vehicle navigation and ensuring the user experience.

[0056] In addition, in one embodiment of the present application, after obtaining the local navigation path, it also includes: calculating the current distance to the traffic light, the distance to the stop line and / or the turn signal based on the local navigation path to generate navigation information; and controlling the vehicle to prompt the user based on the navigation information.

[0057] It can be understood that in the embodiment of the present application, the navigation information may include the distance between the current vehicle position and the traffic light, stop line, and the turn signal of the lane, which serves as auxiliary information to guide vehicle driving and decision-making, to provide prompts to the user. For example, the navigation information of the current vehicle driving status can be prompted to the user through the intelligent voice function in the vehicle.

[0058] After obtaining a local navigation path, the embodiment of the present application can calculate the current distance to the traffic light, the distance to the stop line and / or the turn signal based on the local navigation path to generate navigation information, and control the vehicle to prompt the user based on the navigation information, so that the obtained navigation route meets the traffic rules and constraints, ensuring the safety of the user during the planned route driving process.

[0059] like Figure 2 As shown, the working content of the embodiment of this application is described in detail below with a specific embodiment.

[0060] Step S201: Obtain high-precision map data.

[0061] That is, obtain relevant data in the high-precision map.

[0062] Step S202: Obtain the lane centerline.

[0063] That is, obtain the lane centerline data in the high-precision map data.

[0064] Step S203: Constructing a lateral variable lane network.

[0065] That is, through the lane centerline data in the high-precision map, according to the attributes of the left and right lane edge lines that affect lane changing, such as solid lines, dashed lines, etc., it is judged whether the lane can change lanes to the left or right, and a connecting line is constructed at the starting point of the center lines of the two lanes that can change lanes. After giving the lane change direction, all lane centerlines are traversed in turn, and horizontal connecting lines are constructed for the center lines of the variable lanes to form a horizontal variable lane network.

[0066] Step S204: Lane node construction.

[0067] That is, for the lane centerline data, the starting point and end point of each centerline are output to construct the lane node data.

[0068] Step S205: Acquire lane network.

[0069] That is, the lateral variable lane network and lane nodes are combined with the lane centerline data to construct a lane network for global path planning, which has lateral and longitudinal connectivity and meets the needs of lane-level navigation.

[0070] Step S206: Obtain the starting point / end point coordinates.

[0071] That is, obtain the starting / ending point coordinates required by the user.

[0072] Step S207: Lane line matching.

[0073] That is, based on the constructed lane network, first calculate the distance from the starting point and end point to the lane node, match the nearest node, and then determine the corresponding nearest lane based on the node attributes.

[0074] Step S208: Global path planning.

[0075] That is, the Dijkstra algorithm is used to search for the shortest route from the starting lane to the ending lane to obtain the global path lane line ID set.

[0076] Step S209: path interpolation trajectory processing.

[0077] That is, we obtain the lane centerline ID set of the path, obtain the lane centerline point set, process the point set using the interpolation method, obtain trajectory points with an interval of 1 meter, and ensure the smoothness of the global path.

[0078] Step S210: Acquire the real-time vehicle position.

[0079] That is, the real-time vehicle location is obtained through the positioning data transmitted in real time by the vehicle-side positioning module.

[0080] Step S211: Match the nearest path point.

[0081] That is, the real-time vehicle position coordinates are matched with the global path trajectory points to match the nearest path point.

[0082] Step S212: Calculate navigation information.

[0083] That is, based on the current position, calculate the current distance to the traffic light, the distance to the stop line and the navigation information such as the turn signal.

[0084] Step S213: Output the local path.

[0085] That is, the nearest path point is used to explore a two-kilometer range forward, and combined with navigation information, it is output to the vehicle as a local path.

[0086] According to the vehicle navigation method proposed in the embodiment of the present application, the coordinate data of the vehicle's starting point and end point can be obtained, and the nearest lane can be matched from a pre-constructed lane network based on the coordinate data of the starting point and end point, wherein the lane network is constructed based on a transverse variable lane network, and the shortest path is calculated based on the connectivity relationship between the nearest lane and the lane network to obtain a path set of the shortest path, and the path set is interpolated according to a preset interval to obtain a route point set, and a global navigation path is obtained, thereby improving the output efficiency of navigation information, thereby ensuring the accuracy and reliability of the path planning results, and making vehicle navigation more accurate and efficient. Thus, the problem that the horizontal and vertical traffic relationships between lanes and the traffic rules and constraints of the road are not fully considered in the path planning of vehicle navigation is solved, resulting in the inability to ensure the safety and accuracy of the planned path, and the real-time dynamic planning of the path is not realized, which reduces the working efficiency of vehicle navigation.

[0087] Next, a vehicle navigation device according to an embodiment of the present application will be described with reference to the accompanying drawings.

[0088] Figure 3 It is a block diagram of a navigation device for a vehicle according to an embodiment of the present application.

[0089] like Figure 3 As shown, the vehicle navigation device 10 includes: an acquisition module 100 , a matching module 200 and a navigation module 300 .

[0090] The acquisition module 100 is used to acquire the coordinate data of the starting point and the end point of the vehicle.

[0091] The matching module 200 is used to match the nearest lane from a pre-constructed lane network according to the coordinate data of the starting point and the end point, wherein the lane network is constructed based on a lateral variable lane network.

[0092] The navigation module 300 is used to calculate the shortest path based on the connectivity relationship between the nearest lane and the lane network, obtain a path set of the shortest path, and interpolate the path set according to a preset interval to obtain a route point set to obtain a global navigation path.

[0093] Optionally, in one embodiment of the present application, the navigation module 300 includes: a first acquisition unit, a matching unit, and a second acquisition unit.

[0094] The first acquisition unit is used to acquire the current location of the vehicle after acquiring the global navigation path.

[0095] The matching unit is used to match the current position with the nearest lane of the global navigation path.

[0096] The second acquiring unit is configured to acquire a route of a preset distance forward based on the nearest lane to acquire a local navigation path.

[0097] Optionally, in one embodiment of the present application, the device 10 further includes: a calculation module and a prompt module.

[0098] wherein the calculation module is used to calculate the current distance to the traffic light, the distance to the stop line and / or the turn signal according to the local navigation path after obtaining the local navigation path to generate navigation information;

[0099] The prompt module controls the vehicle to prompt the user according to the navigation information.

[0100] Optionally, in one embodiment of the present application, the matching module 200 includes: a traversal unit, a first construction unit, and a second construction unit.

[0101] Among them, the traversal unit is used to traverse all map lane data to build a lateral variable lane network based on the traffic flow attributes of two parallel and adjacent lanes in the same direction before matching the nearest lane.

[0102] The first construction unit is used to traverse all lane centerline data in path planning, output the first and last points as lane network nodes according to the direction of the lane, and construct the lane network nodes.

[0103] The second construction unit is used to construct a lane network based on the lateral variable lane network and the lane network nodes.

[0104] It should be noted that the aforementioned explanation of the vehicle navigation method embodiment is also applicable to the vehicle navigation device of this embodiment, and will not be repeated here.

[0105] According to the vehicle navigation device proposed in the embodiment of the present application, the coordinate data of the vehicle's starting point and end point can be obtained, thereby matching the nearest lane from a pre-constructed lane network based on the coordinate data of the starting point and end point, wherein the lane network is constructed based on a transverse variable lane network, and the shortest path is calculated based on the connectivity relationship between the nearest lane and the lane network to obtain a path set of the shortest path, and the path set is interpolated according to a preset interval to obtain a route point set, and a global navigation path is obtained, thereby improving the output efficiency of navigation information, thereby ensuring the accuracy and reliability of the path planning results, and making vehicle navigation more accurate and efficient. Thus, the problem that the horizontal and vertical traffic relationships between lanes and the traffic rules and constraints of the road are not fully considered in the path planning of vehicle navigation is solved, resulting in the inability to ensure the safety and accuracy of the planned path, and the real-time dynamic planning of the path is not realized, which reduces the working efficiency of vehicle navigation.

[0106] Figure 4 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. The vehicle may include:

[0107] Memory 401 , processor 402 , and computer programs stored in the memory 401 and executable on the processor 402 .

[0108] When the processor 402 executes the program, the vehicle navigation method provided in the above embodiment is implemented.

[0109] Furthermore, the vehicle further comprises:

[0110] The communication interface 403 is used for communication between the memory 401 and the processor 402 .

[0111] The memory 401 is used to store computer programs that can be run on the processor 402 .

[0112] The memory 401 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0113] If the memory 401, the processor 402, and the communication interface 403 are implemented independently, the communication interface 403, the memory 401, and the processor 402 can be connected to each other via a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 4 Only one thick line is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0114] Optionally, in a specific implementation, if the memory 401 , the processor 402 and the communication interface 403 are integrated on a chip, the memory 401 , the processor 402 and the communication interface 403 can communicate with each other through an internal interface.

[0115] The processor 402 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0116] This embodiment also provides a computer-readable storage medium having a computer program stored thereon, which implements the above vehicle navigation method when executed by a processor.

[0117] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0118] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Thus, a feature specified as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this application, "N" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0119] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing a custom logical function or process step, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may be performed in a different order than shown or discussed, including performing functions in a substantially simultaneous manner or in a reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present application pertain.

[0120] The logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection with one or N wires (electronic devices), a portable computer disk cartridge (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and a portable compact disc read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program can be obtained electronically by optically scanning the paper or other medium and then editing, interpreting or processing it in other suitable ways as necessary, and then storing it in a computer memory.

[0121] It should be understood that various parts of the present application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiment, the N steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used to implement: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0122] Those skilled in the art will understand that all or part of the steps in the method of the above embodiment can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiment.

[0123] In addition, the functional units in the various embodiments of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into a module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0124] The storage medium mentioned above may be a read-only memory, a magnetic disk, or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application. Persons skilled in the art may make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. A vehicle navigation method, characterized in that: The following steps are involved: Get the coordinate data of the vehicle's starting point and end point; Matching the nearest lane from a pre-constructed lane network according to the coordinate data of the starting point and the end point, wherein the lane network is constructed based on a lateral variable lane network; and Calculating a shortest path based on the connectivity relationship between the nearest lane and the lane network to obtain a path set of the shortest path, and interpolating the path set at preset intervals to obtain a route point set to obtain a global navigation path; Before matching the closest lane, also include: Based on the traffic flow attributes of two parallel and adjacent lanes in the same direction, all map lane data are traversed to build a lateral variable lane network; In path planning, all lane centerline data are traversed, and the first and last points are output as lane network nodes according to the direction of the lane to construct the lane network nodes; The lane network is constructed based on the lateral variable lane network and the lane network nodes.

2. The method according to claim 1, characterized in that After obtaining the global navigation path, the method further includes: Obtaining the current location of the vehicle; Matching the current location to the nearest lane of the global navigation path; A route of a preset distance forward is obtained based on the nearest lane to obtain a local navigation path.

3. The method according to claim 2, characterized in that After obtaining the local navigation path, the method further includes: calculating a current distance to a traffic light, a distance to a stop line, and / or a turn signal according to the local navigation path to generate navigation information; The vehicle is controlled to provide prompts to the user according to the navigation information.

4. A vehicle navigation device, characterized in that: include: An acquisition module is used to obtain the coordinate data of the vehicle's starting point and end point; a matching module, configured to match the nearest lane from a pre-constructed lane network according to the coordinate data of the starting point and the end point, wherein the lane network is constructed based on a lateral variable lane network; and a navigation module, configured to calculate a shortest path based on the connectivity relationship between the nearest lane and the lane network, obtain a path set of the shortest path, and interpolate the path set at preset intervals to obtain a set of route points to obtain a global navigation path; The matching module includes: a traversal unit, configured to traverse all map lane data and construct a lateral variable lane network based on traffic flow attributes of two parallel and adjacent lanes in the same direction before matching the nearest lane; The first construction unit is used to traverse all lane centerline data in path planning, output the first and last points as lane network nodes according to the direction of the lane, and construct the lane network nodes; A second construction unit is used to construct the lane network based on the lateral variable lane network and the lane network nodes.

5. The device according to claim 4, characterized in that The navigation module includes: A first acquiring unit, configured to acquire the current position of the vehicle after acquiring the global navigation path; a matching unit, configured to match the current position to a nearest lane of the global navigation path; The second acquiring unit is configured to acquire a route of a preset distance forward based on the nearest lane to acquire a local navigation path.

6. The device according to claim 5, characterized in that Also includes: a calculation module, configured to calculate, after obtaining the local navigation path, a current distance to a traffic light, a distance to a stop line, and / or a turn signal according to the local navigation path, so as to generate navigation information; A prompt module controls the vehicle to prompt the user according to the navigation information.

7. A vehicle, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle navigation method according to any one of claims 1 to 3.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the vehicle navigation method according to any one of claims 1 to 3.

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