Navigation information offline prompting method, server and storage medium

Abstract

The application provides a navigation information offline prompting method, a server and a storage medium. The method comprises the following steps: acquiring traffic signs on a road; acquiring a target driving path of a vehicle according to the traffic signs on the road; acquiring driving path information of the vehicle in the driving process of the vehicle along the target driving path; judging a road type of the vehicle according to the driving path information of the vehicle; and modifying and prompting navigation information according to the road type. In the application, the motion track measured by the vehicle is used to detect whether the vehicle drives through a specific type of road, and after driving through the specific type of road, the navigation information is modified, so that the accuracy of the traffic sign recognition function displayed in the offline state (i.e. when the electronic map data cannot be acquired) is greatly improved, thereby preventing accidents from occurring.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of navigation, and in particular to a navigation information offline prompting method, a server and a storage medium. BACKGROUND

[0002] Traffic sign recognition, also known as TSR (Traffic Sign Recognition), refers to the ability to collect and recognize road traffic sign information appearing during vehicle driving, and to timely instruct or warn the driver, or directly control the vehicle to operate, so as to ensure traffic smoothness and prevent accidents. The existing traffic sign recognition function generally uses an electronic map to mark speed limit signs, or uses a camera to recognize speed limit signs on the road. In most cases, the traffic sign recognition function can accurately handle the scene of driving through a roundabout when the electronic map is used in priority, and in some scenes, the electronic map cannot be used, and only the camera can be used. In this case, simply using the camera cannot determine whether the vehicle has entered the roundabout, and thus cannot determine whether the prompt information on the vehicle needs to be changed. SUMMARY

[0003] An object of the present application is to provide a method that can still change navigation information according to the road type in an offline state.

[0004] A further object of the present application is to provide a method for recognizing the road type on which the vehicle is driving by changing the heading of the vehicle in an offline state.

[0005] In particular, the present application provides a navigation information offline prompting method, comprising the following steps:

[0006] Obtaining traffic signs on a road;

[0007] Obtaining a target driving path of a vehicle according to the traffic signs on the road;

[0008] Obtaining driving path information of the vehicle during driving of the vehicle along the target driving path;

[0009] Determining the road type on which the vehicle is driving according to the driving path information of the vehicle;

[0010] Modifying and prompting the navigation information according to the road type.

[0011] Further, the driving path information of the vehicle includes turning path information and straight path information of the vehicle.

[0012] Further, the turning path information of the vehicle includes driving speed and turning angle, and the straight path information includes driving distance and driving speed.

[0013] Further, the step of judging the road type of the vehicle according to the driving path information of the vehicle comprises the following steps:

[0014] According to the driving path information of the vehicle, the heading of the vehicle in the driving path is judged.

[0015] The driving path corresponding to each heading of the vehicle is segmented and sorted.

[0016] If the driving path corresponding to each heading of the vehicle is sorted as the target path, the driving path information of the vehicle in each heading is compared.

[0017] If the comparison result meets the target result, the road type of the vehicle is determined as the target road type.

[0018] Further, the target result comprises:

[0019] The left turn angle is greater than the first target angle in the heading of the vehicle; the driving distance of the vehicle is less than the target driving distance when the vehicle is in the straight heading; the driving speed of the vehicle in each heading is less than the target driving speed; and the sum of the absolute values of all road segment turning angles is greater than the second target angle.

[0020] Further, the target road type is a roundabout.

[0021] Further, the vehicle drives at least half a circle along the roundabout.

[0022] Further, in the step of modifying the navigation information according to the road type, the navigation information is the speed limit sign identified before entering the roundabout.

[0023] In particular, the present application also provides a server, comprising a processor and a memory, wherein the memory stores at least one instruction, which is loaded and executed by the processor to realize the navigation information offline prompting method.

[0024] In particular, the present application also provides a computer readable storage medium comprising program code for causing an electronic device to perform the steps of the method when the program product is run on the electronic device.

[0025] In the present application, the driving path information of the vehicle is acquired during the driving of the vehicle along the target driving path; the road type of the driving of the vehicle is determined according to the driving path information of the vehicle; and the navigation information is modified and prompted according to the road type. In fact, a method for detecting whether the vehicle drives through a specific type of road by relying on the self-measured motion track is designed, and after driving through the specific type of road, the navigation information is modified, which can greatly improve the accuracy of the traffic sign recognition function displayed in the offline state (i.e. when the electronic map data cannot be acquired), thereby playing a role in preventing accidents.

[0026] Further, in the present application, the heading of the vehicle in the driving path is determined according to the driving path information of the vehicle; the driving path corresponding to each heading of the vehicle is segmented and sorted; if the driving path corresponding to each heading of the vehicle is segmented and sorted as the target path sorting, the driving path information of the vehicle in each heading is compared; and if the comparison result conforms to the target result, it is determined that the road type of the driving of the vehicle is the target road type. In the present application, a method for recognizing the road type of the driving of the vehicle by changing the heading of the vehicle in the offline state is actually provided, which can work independently of the satellite positioning system and is beneficial to the road type recognition in the offline state.

[0027] The above and other objects, advantages and features of the present application will become more apparent from the following detailed description of some embodiments thereof, when taken in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0028] Some specific embodiments of the present application will be described in detail below with reference to the accompanying drawings, in an exemplary and non-limiting manner. The same reference numerals in the drawings denote the same or similar components or parts. It should be understood by those skilled in the art that the drawings are not necessarily drawn to scale. In the drawings:

[0029] Figure 1 is a step diagram of the offline prompting method of navigation information according to an embodiment of the present application;

[0030] Figure 2 is Figure 1 is a schematic diagram of a roundabout in the offline prompting method of navigation information;

[0031] In the drawings:

[0032] 1 - first road segment;

[0033] 2 - second road segment;

[0034] 3 - third road segment;

[0035] 4 - fourth road segment;

[0036] 5 - fifth road segment. DETAILED DESCRIPTION

[0037] Figure 1 is a navigation information offline prompting method step diagram according to an embodiment of the present application. The navigation information offline prompting method comprises the following steps:

[0038] S1, obtaining traffic signs on a road.

[0039] S2, obtaining a target driving path of a vehicle according to the traffic signs on the road.

[0040] S3, obtaining driving path information of the vehicle in a driving process of the vehicle along the target driving path.

[0041] S4, judging a road type of the vehicle according to the driving path information of the vehicle.

[0042] S5, modifying and prompting the navigation information according to the road type.

[0043] In the embodiment, the driving path information of the vehicle is obtained in the driving process of the vehicle along the target driving path, the road type of the vehicle is judged according to the driving path information of the vehicle, and the navigation information is modified and prompted according to the road type. In fact, a method of detecting whether the vehicle drives through a specific type of road by relying on the motion track measured by the vehicle body is designed, and after driving through the specific type of road, the navigation information is modified, which can greatly improve the accuracy of the traffic sign recognition function displayed in the offline state (i.e., when the electronic map data cannot be obtained), thereby playing a role in preventing accidents.

[0044] According to an embodiment of the present application, the embodiment provides a navigation information offline prompting method, which aims to judge a road type of a vehicle according to driving path information of the vehicle, and modify and prompt navigation information according to the road type, so that a driver can obtain road information in time and accurately. In the method disclosed in the embodiment, the following steps are specifically included:

[0045] S101, first obtaining traffic signs on a road by a camera or other device on the vehicle.

[0046] S201, then obtaining a target driving path of a vehicle to be driven according to the traffic signs.

[0047] S301, obtaining driving path information of the vehicle by a sensor or other device on the vehicle in a driving process of the vehicle along the target driving path. The driving path information includes turning path information (such as driving speed and turning angle) and straight path information (such as driving distance and driving speed) of the vehicle.

[0048] S401, judging the road type of the vehicle according to the driving path information. First, the heading of the vehicle is judged, the driving path corresponding to each heading is segmented and sorted, and compared with the target path sorting and target result. If the comparison result is consistent with the target result, such as the sum of the left and right turning angles is greater than the first target angle, the straight heading distance is less than the target distance, the heading speed is less than the target speed, and the sum of the absolute values of the turning angles is greater than the second target angle, it is determined that the vehicle is driving on a roundabout road.

[0049] S501, according to the determination result, the navigation information is modified and prompted. If it is determined that the vehicle is driving on a roundabout, the speed limit sign recognized before entering the roundabout is prompted to the driver to remind the driver to confirm the current road speed limit. In this embodiment, by obtaining the detailed information in the running path of the vehicle, the type of the road where the vehicle is located is determined, and the most relevant and necessary navigation information is selected for prompting according to the type of the road, so that the driver can timely and accurately master the road information, and the traffic safety is improved.

[0050] Figure 2 is Figure 1 The roundabout schematic diagram in the navigation information offline prompting method is shown. According to one embodiment of the present application, in a typical application scenario, the vehicle is normally driving on the road, the camera of the vehicle detects a roundabout sign in front, and the driving distance is within the preset distance threshold K1 kilometers. At this time, the mileage recorder starts to record the motion trail of the vehicle. In order to identify the type of the roundabout road, the roundabout is divided into five road segments in this embodiment. In the first road segment 1, the vehicle turns right, in the second road segment 2, the vehicle drives straight, in the third road segment 3, the vehicle turns left, in the fourth road segment 4, the vehicle drives straight, and in the fifth road segment 5, the vehicle turns right. It can be understood that most drivers pass through the roundabout in this order of heading, so by identifying the change of the vehicle heading, it can be determined whether the vehicle passes through the roundabout. It can also be understood that in this embodiment, the heading of the vehicle can be provided by the built-in sensing row of the vehicle. Generally, in the offline state, the vehicle can measure the heading by the micro-electro-mechanical system (MEMS) gyroscope.

[0051] According to one embodiment of the present application, during recording the vehicle motion trajectory, each time the vehicle heading changes, the heading, steering angle, distance traveled, and travel time information of the previous section are recorded, and a total of five sets of data corresponding to the first section 1 to the fifth section 5 are recorded. When the distance traveled is within the distance threshold K1 (starting from the detected road sign), the vehicle's travel trajectory is recorded, and when the vehicle's motion trajectory is detected to meet all the characteristics of the roundabout, it is considered that the vehicle has passed through the roundabout. The characteristics include: characteristic one: the vehicle heading is right turn, straight, left turn, straight, and right turn in turn. Characteristic two: the steering angle of the left turn section is greater than 10 degrees (corresponding to the first target angle), characteristic three: the distance traveled of the straight section 2 and the straight section 3 is less than 10 m, characteristic four: the average speed of each section is less than 60 km / h, characteristic five: the sum of the absolute values of the steering angles of all sections is greater than 30 degrees (corresponding to the second target angle), characteristic six: the vehicle has entered the right turn section 5 and the cumulative steering angle is greater than 10 degrees (corresponding to the first target angle). It should be noted that in some embodiments, considering the distance relationship of the roundabout and the roundabout sign, after detecting the roundabout sign, the distance threshold K1 is first set to 150 m, and then when detecting the vehicle's motion trajectory, when it is detected that the vehicle is turning, the distance traveled is adjusted to infinity within the distance threshold K1, otherwise, when it is detected that the vehicle is not in the turning state, the distance threshold K1 is set to 10 m.

[0052] According to one embodiment of the present application, in a typical scenario, in the first section 1, the vehicle turns right, the steering angle is 15 degrees, the driving distance is 6 meters, the average speed is 25 km / h, and the driving time is 4 seconds. In the second section 2, the vehicle drives straight, the steering angle is 0 degrees, the driving distance is 9 meters, the average speed is 15 km / h, and the driving time is 3 seconds. In the third section 3, the vehicle turns left, the steering angle is 20 degrees, the driving distance is 4 meters, the average speed is 8 km / h, and the driving time is 2 seconds. In the fourth section 4, the vehicle drives straight, the steering angle is 0 degrees, the driving distance is 5 meters, the average speed is 10 km / h, and the driving time is 2 seconds. In the fifth section 5, the vehicle turns right, the steering angle is 25 degrees, the driving distance is 10 meters, the average speed is 22 km / h, and the driving time is 3 seconds. According to the above trajectory record, it can be judged that the vehicle's heading sequence is right turn, straight, left turn, straight, right turn, which meets feature one. The steering angle of the left turn in the third section 3 is 20 degrees, which is greater than 10 degrees, meeting feature two. The driving distances of the second section 2 and the fourth section 4 are 9 meters and 5 meters, respectively, both of which are less than 10 meters, meeting feature three. The average speeds of each section are all less than 60 km / h, meeting feature four. The sum of the steering angles of each section is 15 degrees + 20 degrees + 25 degrees = 60 degrees, which is greater than 30 degrees, meeting feature five. The vehicle has entered the fifth section 5 right turn, and the cumulative steering angle is 15 degrees + 20 degrees + 25 degrees = 60 degrees, which is greater than 10 degrees, meeting feature six. In summary, the vehicle's motion trajectory meets all the features of the roundabout, so it can be judged that the vehicle has passed through the roundabout. The speed limit sign identified before the vehicle enters the roundabout is removed.

[0053] It can also be understood that when the vehicle passes through the roundabout, there are cases where the vehicle does not drive according to the first section 1 to the fifth section 5, for example, the steering wheel position is corrected at any time. At this time, the above feature one can be appropriately modified.

[0054] According to one embodiment of the present application, in a typical application scenario, the vehicle normally drives on the road, and the vehicle's camera detects a left turn sign in front of it within a preset distance threshold K2 kilometers. At this time, the odometer starts recording the vehicle's motion trajectory. In order to identify the left turn type of road, the left turn is divided into three sections in this embodiment. In the first section, the vehicle drives straight, in the second section, the vehicle turns left, and in the third section, the vehicle drives straight. It can be understood that most vehicle owners drive through the left turn section in this order, so by identifying changes in this vehicle heading, it can be determined whether the vehicle has passed through the left turn. It can also be understood that in this embodiment, the vehicle's heading can be provided by the vehicle's built-in sensing line. Generally, in the offline state, the vehicle can measure the heading by a micro-electromechanical system (MEMS) gyroscope.

[0055] According to one embodiment of the present application, when the driving distance is within the range of the mileage threshold K2 (starting from the detected road sign), and the motion trajectory of the vehicle is detected to meet all the characteristics of the left turn, the vehicle is considered to have passed the left turn section. The characteristics include: characteristic one: the vehicle heading is in the order of straight, left turn, and straight. Characteristic two: the turning angle of the left turn section is greater than 80 degrees and less than 100 degrees. Characteristic three: the driving distances of the two straight sections are both less than 50 meters. Characteristic four: the average speed is 20-40 km / h.

[0056] According to one embodiment of the present application, in a typical scenario, in the first section, the vehicle drives straight, the driving distance is 15 meters, the average speed is 30 km / h, and the driving time is 4 seconds. In the second section, the vehicle turns left, the turning angle is 80 degrees, the driving distance is 35 meters, the average speed is 15 km / h, and the driving time is 13 seconds. In the third section, the vehicle drives straight, the turning angle is 0 degrees, the driving distance is 10 meters, the average speed is 20 km / h, and the driving time is 3 seconds. According to the above trajectory record, it can be judged that the vehicle heading is in the order of straight, left turn, and straight, which meets characteristic one. The turning angle of the left turn in the second section is greater than 80 degrees and less than 100 degrees, which meets characteristic two. The driving distances of the two straight sections are both less than 50 meters, which meets characteristic three. The average speed is 20-40 km / h, which meets characteristic four. In summary, the motion trajectory of the vehicle meets all the characteristics of the roundabout, and it can be judged that the vehicle has passed the left turn section. The speed limit sign identified before the vehicle enters the left turn section is removed.

[0057] According to one embodiment of the present application, the present application also discloses a server, which comprises a processor and a memory, and the memory stores at least one instruction, which is loaded and executed by the processor to implement the navigation information offline prompting method.

[0058] According to one embodiment of the present application, the present application also provides a computer readable storage medium, which comprises program code, and when the program product is running on an electronic device, the program code is used to make the electronic device execute the steps of the method.

[0059] At this point, those skilled in the art should recognize that although the present application has been shown and described in detail in the above embodiments, many other variations or modifications can be directly determined or deduced from the disclosure of the present application according to the principles of the present application without departing from the spirit and scope of the present application. Therefore, the scope of the present application should be understood and recognized as covering all these other variations or modifications.

Claims

1. A navigation information offline prompting method characterized by comprising: The method comprises the following steps: acquiring traffic signs on a road; acquiring a target driving path of a vehicle according to the traffic signs on the road; acquiring driving path information of the vehicle during driving of the vehicle along the target driving path; judging a road type of the vehicle according to the driving path information of the vehicle; modifying and prompting navigation information according to the road type; the step of judging the road type of the vehicle according to the driving path information of the vehicle comprises the following steps: judging a heading of the vehicle in the driving path according to the driving path information of the vehicle; segmenting and sorting the driving path corresponding to each heading of the vehicle; if the segmented and sorted driving path corresponding to each heading of the vehicle is a target path order, comparing the driving path information of the vehicle in each heading; if the comparison result is a target result, determining that the road type of the vehicle is a target road type.

2. The navigation information offline prompting method according to claim 1, characterized in that, The driving path information of the vehicle comprises turning path information and straight path information.

3. The navigation information offline prompting method according to claim 2, characterized in that, The turning path information of the vehicle comprises a driving speed and a turning angle, and the straight path information comprises a driving distance and a driving speed.

4. The navigation information offline prompting method according to claim 1, characterized in that, The target result comprises: a sum of angles of a left-turn heading and a right-turn heading in the heading of the vehicle is greater than a first target angle; a driving distance of the vehicle in a straight heading of the heading of the vehicle is less than a target driving distance; the driving speed of the vehicle in each heading is less than a target driving speed; and a sum of absolute values of all road segment turning angles is greater than a second target angle.

5. The navigation information offline prompting method according to claim 1 or 4, characterized by, The target road type is a roundabout.

6. The navigation information offline prompting method according to claim 5, characterized in that, The vehicle drives at least half a round in the roundabout.

7. The navigation information off-line prompting method according to claim 1 or 4, wherein In the step of modifying the navigation information according to the road type, the navigation information is a speed limit sign identified before entering the roundabout.

8. A server, characterized by The server comprises a processor and a memory, and the memory stores at least one instruction which is loaded and executed by the processor to implement the navigation information offline prompting method according to any one of claims 1-7.

9. A computer-readable storage medium, characterized in that, The program product comprises program code for causing an electronic device to perform the steps of the navigation information offline prompting method according to any one of claims 1-7 when the program product is run on the electronic device.

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