A highway driving path guidance method and system

Abstract

A highway driving path guidance method and system, comprising the following steps: obtaining the positions of a starting point and an end point; obtaining a vehicle navigation path according to the positions of the starting point and the end point; obtaining the position of the vehicle in real time, and obtaining a guidance path according to the position of the vehicle and the driving path, wherein the guidance path is determined in the following manner: obtaining the driving road conditions around the vehicle, and refining the navigation path to obtain the guidance path. The present application refines the navigation path based on the actual driving road conditions, thereby obtaining a more refined guidance path, thereby obtaining a more refined and optimized final navigation path.

Description

Technical Field

[0001] The present application relates to a highway driving path guidance method and system. Background Art

[0002] Path planning includes two aspects. One is the route planning for long routes. This type of planning is now relatively mature. The commercially available Amap and Baidu Map can already provide very detailed planning, and with the assistance of Beidou satellites, lane-level navigation can be performed. The other is the route return for short routes, which is planned automated driving or assisted driving. Automated driving refers to the use of various detection components and control components to control the way a vehicle moves. It is now a very important development direction. The existing autonomous driving methods tend to be based on timely feedback rather than planned feedback. Timely feedback greatly reduces the feelings of passengers, which also makes the frustration of autonomous driving and rapid acceleration more frequent, and the riding experience is very poor. Summary of the invention

[0003] In order to solve the above problems, the present application discloses a method for guiding a road driving path, comprising the following steps:

[0004] Get the locations of the starting point and the end point;

[0005] Obtaining the navigation path of the vehicle based on the locations of the starting point and the end point;

[0006] The position of the vehicle is acquired in real time, and a guidance path is obtained according to the position of the vehicle and the driving path. The guidance path is determined as follows:

[0007] The driving conditions around the vehicle are obtained, and the navigation path is refined to obtain a guidance path. The present application refines the navigation path based on the actual driving conditions, thereby obtaining a more refined guidance path, thereby obtaining a more refined and optimized final navigation path.

[0008] Preferably, the guiding path is obtained as follows:

[0009] Determine the specific lane of the road according to the navigation path;

[0010] Obtain the vehicle's lane and surrounding vehicle status based on the driving road conditions;

[0011] Determine whether the vehicle changes lanes based on the lane, vehicle status, and navigation route.

[0012] Preferably, when the driving lane and the vehicle speed remain unchanged, the driving lane is not changed;

[0013] If the vehicle speed needs to be changed, the selection is made by considering the change in vehicle speed and the offset distance traveled by the vehicle.

[0014] Preferably, the driving path when the vehicle speed changes is obtained as follows:

[0015] Obtaining the distance and speed of the vehicle relative to surrounding vehicles, and obtaining the driving path of the vehicle as a first path when the speed of the vehicle remains unchanged;

[0016] Based on the first path, calculating the offset ratio n=y / x between the offset distance y of the vehicle deviating from the lane during the driving process according to the first path and the driving distance x during the offset process;

[0017] Obtaining a driving path of the vehicle as a second path when the vehicle speed changes by no more than ±20%;

[0018] Based on the second path, a deviation ratio N=Y / X between a deviation distance Y of the vehicle deviating from the lane during driving along the second path and a driving distance X during the deviation is calculated;

[0019] When n<1.1N, the first path is selected;

[0020] Otherwise, the second path is selected. The present application selects between vehicle speed change and lane keeping by presetting the first path and the second path, and avoids the vehicle from running at a snail's pace on the basis of controlling the deviation rate, thus having good road driving adaptability.

[0021] Preferably, the offset distance y, offset distance Y, driving distance x, and driving distance X are calculated using the center line of the lane as a reference line.

[0022] Preferably, the first path is obtained as follows:

[0023] Acquire first vehicle information of a vehicle in an adjacent lane and second vehicle information of a vehicle in a second adjacent lane;

[0024] Determine the time to change to the adjacent lane according to the first vehicle information, and then confirm whether to enter the secondary adjacent lane or return to the original lane where the vehicle is located according to the second vehicle information;

[0025] The lane where the vehicle is located is used as the original lane for continuous analysis and judgment. However, when safety cannot be guaranteed, lane change is preferred to ensure safety.

[0026] The offset distance y is calculated as the accumulation of the offset distances of the vehicle between different lanes.

[0027] Preferably, the second path is obtained as follows:

[0028] Acquire third vehicle information of vehicles in an adjacent lane and fourth vehicle information of vehicles in a second adjacent lane;

[0029] When the speed of the vehicle in the original lane changes within ±20%, the vehicle lane remains unchanged. When the speed changes beyond this range, the time to change to the adjacent lane is determined based on the third vehicle information, and then the fourth vehicle information is used to determine whether to enter the secondary adjacent lane or return to the original lane where the vehicle is located;

[0030] The lane where the vehicle is located is used as the original lane for continuous analysis and judgment. However, when safety cannot be guaranteed, the vehicle speed is changed to ensure safety.

[0031] The offset distance Y is calculated as the accumulation of the offset distances of the vehicle between different lanes.

[0032] Preferably, the vehicle speed change factor is also taken into consideration.

[0033] Preferably, for the first path, the first speed change rate v=V1 / V2; wherein V1 is the average speed on the first path; V2 is the set speed;

[0034] For the second path, the first speed change rate V=V3 / V2; wherein V3 is the average speed on the second path; V2 is the set speed;

[0035] When n<1.1N and n*v<1.2N*V, select the first path;

[0036] Otherwise, the second path is selected. This application sets the first path and the second path in advance based on the change of the offset distance and the vehicle speed, and performs pre-planning under the consideration of the vehicle speed and the offset distance, so that a more suitable road selection can be made within a short distance, which can serve as the basis for autonomous driving and can also serve as a preparatory plan to guide the driver.

[0037] On the other hand, a highway driving path guidance system is also disclosed, comprising the following modules:

[0038] A location acquisition module is used to obtain the locations of the starting point and the end point;

[0039] A planning module, used to obtain the navigation path of the vehicle based on the locations of the starting point and the end point;

[0040] The guidance module is used to obtain the vehicle's position in real time, and obtain a guidance path based on the vehicle's position and the driving path. The guidance path is determined in the following manner: the driving road conditions around the vehicle are obtained, and the navigation path is refined to obtain the guidance path.

[0041] This application can bring the following beneficial effects:

[0042] 1. This application refines the navigation path based on the actual driving conditions, thereby obtaining a more refined guidance path, thereby obtaining a more refined and optimized final navigation path.

[0043] 2. This application selects between vehicle speed change and lane keeping by pre-setting the first path and the second path, and avoids the vehicle from running at a snail's pace on the basis of controlling the deviation rate, and has good road driving adaptability.

[0044] 3. This application pre-sets the first path and the second path based on the consideration of the offset distance and the vehicle speed change, and performs pre-planning based on the vehicle speed and the offset distance, so that a more appropriate road selection can be made within a short distance. This can serve as the basis for autonomous driving, and can also serve as a preparatory plan to guide the driver. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0046] Figure 1 is a schematic diagram of Example 1;

[0047] Figure 2 A schematic diagram for obtaining a guidance path;

[0048] Figure 3 This is a schematic diagram of Example 2. DETAILED DESCRIPTION

[0049] In order to clearly illustrate the technical features of this solution, this application is elaborated in detail below through specific implementation methods.

[0050] In the first embodiment, if Figure 1 As shown, a highway driving path guidance method includes the following steps:

[0051] S101. Get the starting and ending points;

[0052] S102. Obtaining the navigation path of the vehicle according to the starting and ending positions;

[0053] S103. Acquire the position of the vehicle in real time, and obtain a guidance path based on the position of the vehicle and the driving path. The guidance path is determined as follows:

[0054] Obtain the driving conditions around the vehicle and refine the navigation path to obtain the guidance path.

[0055] like Figure 2As shown, the guidance path is obtained as follows:

[0056] S1031. Determine the specific lane of the road according to the navigation path.

[0057] S1032. Obtain the vehicle's lane and the vehicle status of surrounding vehicles based on the driving road conditions.

[0058] S1033. Determine whether the vehicle changes lanes based on the lane, vehicle status, and navigation route.

[0059] If the driving lane and vehicle speed remain unchanged, the driving lane will not be changed;

[0060] If the vehicle speed needs to be changed, the selection is made by considering the change in vehicle speed and the offset distance traveled by the vehicle.

[0061] S1034. Analyze and obtain the first path and the second path and make planning selections.

[0062] The driving path when the vehicle speed changes is obtained as follows:

[0063] Obtaining the distance and speed of the vehicle relative to surrounding vehicles, and obtaining the driving path of the vehicle as a first path when the speed of the vehicle remains unchanged;

[0064] Based on the first path, calculating the offset ratio n=y / x between the offset distance y of the vehicle deviating from the lane during the driving process according to the first path and the driving distance x during the offset process;

[0065] Obtaining a driving path of the vehicle as a second path when the vehicle speed changes by no more than ±20%;

[0066] Based on the second path, a deviation ratio N=Y / X between a deviation distance Y of the vehicle deviating from the lane during driving along the second path and a driving distance X during the deviation is calculated;

[0067] When n<1.1N, the first path is selected;

[0068] Otherwise, choose the second path.

[0069] The offset distance y, offset distance Y, travel distance x, and travel distance X are calculated with the center line of the lane as a reference line.

[0070] The first path is obtained as follows:

[0071] Acquire first vehicle information of a vehicle in an adjacent lane and second vehicle information of a vehicle in a second adjacent lane;

[0072] Determine the time to change to the adjacent lane according to the first vehicle information, and then confirm whether to enter the secondary adjacent lane or return to the original lane where the vehicle is located according to the second vehicle information;

[0073] The lane where the vehicle is located is used as the original lane for continuous analysis and judgment. However, when safety cannot be guaranteed, lane change is preferred to ensure safety.

[0074] The offset distance y is calculated as the accumulation of the offset distances of the vehicle between different lanes.

[0075] The second path is obtained as follows:

[0076] Acquire third vehicle information of vehicles in an adjacent lane and fourth vehicle information of vehicles in a second adjacent lane;

[0077] When the speed of the vehicle in the original lane changes within ±20%, the vehicle lane remains unchanged. When the speed changes beyond this range, the time to change to the adjacent lane is determined based on the third vehicle information, and then the fourth vehicle information is used to determine whether to enter the secondary adjacent lane or return to the original lane where the vehicle is located;

[0078] The lane where the vehicle is located is used as the original lane for continuous analysis and judgment. However, when safety cannot be guaranteed, the vehicle speed is changed to ensure safety.

[0079] The offset distance Y is calculated as the accumulation of the offset distances of the vehicle between different lanes.

[0080] Of course, while taking into account that the vehicle speed change is not too large, the impact of the vehicle speed change can also be considered, which can be achieved in the following way.

[0081] For the first path, the first speed change rate v=V1 / V2; wherein V1 is the average speed on the first path; V2 is the set speed;

[0082] For the second path, the first speed change rate V=V3 / V2; wherein V3 is the average speed on the second path; V2 is the set speed;

[0083] When n<1.1N and n*v<1.2N*V, select the first path;

[0084] Otherwise, choose the second path.

[0085] In the second embodiment, if Figure 3 As shown, a highway driving path guidance system includes the following modules:

[0086] A location acquisition module 201 is used to acquire the locations of the starting point and the end point;

[0087] A planning module 202, for obtaining a navigation path of the vehicle according to the positions of the starting point and the end point;

[0088] The guidance module 203 is used to obtain the position of the vehicle in real time, and obtain a guidance path based on the position of the vehicle and the driving path. The guidance path is determined as follows: the driving road conditions around the vehicle are obtained, and the navigation path is refined to obtain the guidance path.

[0089] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A method for guiding a road driving route, characterized in that: The steps include: Get the locations of the starting point and the end point; Obtaining the navigation path of the vehicle based on the locations of the starting point and the end point; The vehicle position is acquired in real time, and a guidance path is obtained based on the vehicle position and the navigation path. The guidance path is determined as follows: Obtain the driving conditions around the vehicle and refine the navigation path to obtain the guidance path; The guide path is obtained as follows: Determine a travel lane of the road according to the navigation path; Obtain the vehicle's lane and surrounding vehicle status based on the driving road conditions; Determine whether the vehicle changes lanes according to the lane, vehicle status and navigation route; If the driving lane and vehicle speed remain unchanged, the driving lane will not be changed; If the vehicle speed needs to be changed, the selection is made by considering the change in vehicle speed and the offset distance traveled by the vehicle; The driving path when the vehicle speed changes is obtained as follows: Obtaining the distance and speed of the vehicle relative to surrounding vehicles, and obtaining the driving path of the vehicle as a first path when the speed of the vehicle remains unchanged; Based on the first path, calculating the offset ratio n=y / x between the offset distance y of the vehicle deviating from the lane during the driving process according to the first path and the driving distance x during the offset process; Obtaining a driving path of the vehicle as a second path when the vehicle speed changes by no more than ±20%; Based on the second path, a deviation ratio N=Y / X between a deviation distance Y of the vehicle deviating from the lane during driving along the second path and a driving distance X during the deviation is calculated; When n<1.1N, the first path is selected; Otherwise, choose the second path.

2. A highway driving route guidance method according to claim 1, characterized in that: The offset distance y, offset distance Y, travel distance x, and travel distance X are calculated with the center line of the lane as a reference line.

3. A highway driving route guidance method according to claim 2, characterized in that: The first path is obtained as follows: Acquire first vehicle information of a vehicle in an adjacent lane and second vehicle information of a vehicle in a second adjacent lane; Determine the time to change to the adjacent lane according to the first vehicle information, and then confirm whether to enter the secondary adjacent lane or return to the original lane where the vehicle is located according to the second vehicle information; The lane where the vehicle is located is used as the original lane for continuous analysis and judgment. However, when safety cannot be guaranteed, lane change is preferred to ensure safety. The offset distance y is calculated as the accumulation of the offset distances of the vehicle between different lanes.

4. A highway driving route guidance method according to claim 3, characterized in that: The second path is obtained as follows: Acquire third vehicle information of vehicles in an adjacent lane and fourth vehicle information of vehicles in a second adjacent lane; When the speed of the vehicle in the original lane changes within ±20%, the vehicle lane remains unchanged. When the speed changes beyond this range, the time to change to the adjacent lane is determined based on the third vehicle information, and then the fourth vehicle information is used to determine whether to enter the secondary adjacent lane or return to the original lane where the vehicle is located; The lane where the vehicle is located is used as the original lane for continuous analysis and judgment. However, when safety cannot be guaranteed, the vehicle speed is changed to ensure safety. The offset distance Y is calculated according to the accumulation of the offset distances of the vehicle between different lanes.

5. A highway driving route guidance method according to claim 4, characterized in that: It also includes consideration of vehicle speed changes.

6. A highway driving route guidance method according to claim 5, characterized in that: For the first path, the first speed change rate v=V1 / V2; wherein V1 is the average speed on the first path; V2 is the set speed; For the second path, the first speed change rate V=V3 / V2; wherein V3 is the average speed on the second path; V2 is the set speed; When n<1.1N and n*v<1.2N*V, select the first path; Otherwise, choose the second path.

7. A system for implementing the highway driving path guidance method according to any one of claims 1 to 6, characterized in that: Includes the following modules: A location acquisition module is used to obtain the locations of the starting point and the end point; A planning module, used to obtain the navigation path of the vehicle based on the locations of the starting point and the end point; The guidance module is used to obtain the vehicle's position in real time, and obtain a guidance path based on the vehicle's position and the driving path. The guidance path is determined in the following manner: the driving road conditions around the vehicle are obtained, and the navigation path is refined to obtain the guidance path.

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