A vehicle positioning and navigation method and system based on tunnel environment

Abstract

The present application discloses a vehicle positioning and navigation method and system based on a tunnel environment. When a target vehicle is about to enter a tunnel, the position of the target vehicle is determined based on the pre-planned driving path and the structural facilities of the tunnel. On the one hand, it can avoid errors and resource consumption caused by excessively frequent positioning; on the other hand, it can avoid the reduction of navigation efficiency caused by unilaterally reducing the positioning frequency. The method and system in this specification predict the driving risk of the target vehicle with the help of the setting of landmarks, so as to locate the target vehicle at a location with higher driving risk, which can reduce the positioning frequency to a certain extent while ensuring the positioning efficiency.

Description

Technical Field

[0001] The present application relates to the technical field of the use of road vehicle driving control systems that are not associated with the control of systems using joint control of vehicle subsystems, and in particular to a vehicle positioning and navigation method and system based on a tunnel environment. Background Art

[0002] In-vehicle intelligent navigation is a system that can use the location, speed, time and other information provided by the satellite positioning system, and cooperate with the route planning capabilities of high-precision navigation electronic maps to improve the navigation function for users. The prerequisite for navigation is path planning and positioning. The technical means for path planning and positioning in related technologies provide great convenience for the intelligent control of vehicle driving.

[0003] However, in certain specific scenarios, it is still very difficult to locate and navigate the vehicle. This specific scenario, for example, is driving in a tunnel. The environmental characteristics in the tunnel are relatively simple. When vision-based positioning technology is applied to tunnel scenarios, if the positioning frequency is too frequent, it may lead to large errors. When satellite-based positioning technology is applied to tunnel scenarios, if the positioning frequency is too frequent, it will lead to excessive occupation of vehicle communication resources, and the impact of delays cannot be ignored. If the positioning frequency is simply reduced in the tunnel scenario, it may lead to untimely path updates, which in turn will lead to problems such as low navigation efficiency. Summary of the invention

[0004] The embodiments of the present application provide a method and system for positioning and navigating a vehicle in a tunnel environment, so as to at least partially solve the above-mentioned technical problems.

[0005] The present application embodiment adopts the following technical solutions:

[0006] In a first aspect, an embodiment of the present application provides a vehicle positioning and navigation method based on a tunnel environment, the method comprising:

[0007] When it is detected that a target vehicle is about to enter a tunnel, a driving path that has been planned for the target vehicle is determined as a pending path; the pending path represents at least a portion of the driving trajectory of the target vehicle in the tunnel and the driving speed on the driving trajectory;

[0008] Determine the lane in which the target vehicle is traveling in the pending path as the pending lane;

[0009] Taking the center line of the pending lane as a reference, predicting the number of preset markers that appear within the field of vision of the target vehicle within a first specified time period when the target vehicle travels along the pending path, as a first number;

[0010] When the first number is greater than a preset number threshold, the position of the target vehicle on the undetermined path is used as a first target position;

[0011] After the target vehicle enters the tunnel, if it is detected that the target vehicle reaches the first target position, positioning of the target vehicle is performed.

[0012] In an optional embodiment of this specification, the method further includes:

[0013] The result obtained by performing positioning of the target vehicle is used as the positioning result;

[0014] Based on the positioning result, a driving path is replanned for the target vehicle to update the pending path.

[0015] In an optional embodiment of this specification, the method further includes:

[0016] In the process of the target vehicle traveling on the updated pending path, the number of the markers appearing within the field of vision of the target vehicle within a second specified time period is accumulated as a second number;

[0017] When the second number is greater than the number threshold, the position of the target vehicle on the undetermined path is used as a second target position;

[0018] If it is detected that the target vehicle reaches the first target position or the second target position, positioning of the target vehicle is performed.

[0019] In an optional embodiment of this specification, the method further includes:

[0020] When it is detected that the distance between the target vehicle and the entrance of the tunnel is a specified distance, it is determined that the target vehicle is about to enter the tunnel; the specified distance is positively correlated with the current traffic flow of the tunnel, the number of lanes included in the tunnel, and the average speed of the target vehicle in the tunnel represented by the pending path.

[0021] In an optional embodiment of this specification, the method further includes:

[0022] The designated distance when lane changing is allowed in the tunnel is smaller than the designated distance when lane changing is not allowed in the tunnel.

[0023] In an optional embodiment of this specification, the method further includes:

[0024] The marker is a lighting device in the tunnel; the quantity threshold is positively correlated with the quantity of the lighting devices, negatively correlated with the distribution density of the lighting devices, and positively correlated with the estimated time required for the target vehicle to travel along the pending path.

[0025] In an optional embodiment of this specification, the method further includes:

[0026] When the tunnel does not allow lane changing, the second specified time period is less than the first specified time period.

[0027] In a second aspect, an embodiment of the present application further provides a vehicle positioning and navigation system based on a tunnel environment, the system comprising:

[0028] The pending path determination module is configured to: when detecting that a target vehicle is about to enter a tunnel, determine a driving path that has been planned for the target vehicle as a pending path; the pending path represents at least a portion of the driving trajectory of the target vehicle in the tunnel and the driving speed on the driving trajectory;

[0029] A pending lane determination module is configured to: determine the lane in which the target vehicle is traveling in the pending path as the pending lane;

[0030] The first quantity determination module is configured to: take the center line of the pending lane as a reference, predict the number of preset markers that appear within the field of vision of the target vehicle within a first specified time period when the target vehicle travels along the pending path, as a first quantity;

[0031] A first target position determination module is configured to: when the first number is greater than a preset number threshold, the position of the target vehicle on the to-be-determined path is used as a first target position;

[0032] The positioning module is configured to: after the target vehicle enters the tunnel, if it is detected that the target vehicle reaches the first target position, perform positioning of the target vehicle.

[0033] In a third aspect, an embodiment of the present application further provides an electronic device, including:

[0034] Processor; and

[0035] A memory arranged to store computer executable instructions which, when executed, cause the processor to perform the method steps described in the first aspect.

[0036] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, which stores one or more programs. When the one or more programs are executed by an electronic device including multiple applications, the electronic device executes the method steps described in the first aspect.

[0037] At least one of the above technical solutions adopted in the embodiments of the present application can achieve the following beneficial effects:

[0038] The method and system in this specification, when the target vehicle is about to enter the tunnel, determine the location of the target vehicle based on the pre-planned driving path and the structural facilities of the tunnel. On the one hand, it can avoid errors and resource consumption caused by excessively frequent positioning; on the other hand, it can avoid the reduction of navigation efficiency caused by unilaterally reducing the positioning frequency. Under normal circumstances, due to the obstruction of natural barriers such as mountains, the internal light of the tunnel will be weak. For this reason, in order to ensure the safety of vehicle traffic, the designers of the tunnel will set up markers inside the tunnel to assist vehicle traffic. More dense markers will be set up at locations with higher traffic risks in the tunnel (for example, bends, obstacles, etc.). The method and system in this specification use the setting of markers to predict the driving risk of the target vehicle, so as to locate it at a location with higher driving risk, which can reduce the positioning frequency to a certain extent while ensuring positioning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] 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:

[0040] Figure 1 A schematic diagram of a process of a vehicle positioning and navigation method based on a tunnel environment provided in an embodiment of this specification;

[0041] Figure 2 It is a schematic diagram of the structure of an electronic device in an embodiment of this specification. DETAILED DESCRIPTION

[0042] The present invention is further described in detail below by specific embodiments in conjunction with the accompanying drawings. Wherein similar elements in different embodiments adopt associated similar element numbers. In the following embodiments, many detailed descriptions are for making the present application better understood. However, those skilled in the art can easily recognize that some features can be omitted in different situations, or can be replaced by other elements, materials, methods. In some cases, some operations related to the present application are not shown or described in the specification, and this is to avoid the core part of the present application being overwhelmed by too much description, and for those skilled in the art, it is not necessary to describe these related operations in detail, and they can fully understand the related operations according to the description in the specification and the general technical knowledge in the art.

[0043] In addition, the features, operations or characteristics described in the specification can be combined in any appropriate manner to form various implementations. At the same time, the steps or actions in the method description can also be interchanged or adjusted in a manner that is obvious to those skilled in the art. Therefore, the various sequences in the specification and the drawings are only for the purpose of clearly describing a certain embodiment and are not meant to be a required sequence, unless otherwise specified that a certain sequence must be followed.

[0044] The serial numbers of the components in this document, such as "first", "second", etc., are only used to distinguish the objects described and do not have any order or technical meaning. The "connection" and "coupling" mentioned in this application, unless otherwise specified, include direct and indirect connections (couplings).

[0045] The technical solutions provided by various embodiments of the present application are described in detail below in conjunction with the accompanying drawings.

[0046] like Figure 1 As shown, the method in this specification is performed by a vehicle positioning and navigation device based on a tunnel environment. The device can be set on the vehicle computer of the target vehicle, or it can be set on the cloud to communicate with the vehicle computer of the target vehicle. The vehicle positioning and navigation method based on a tunnel environment in this specification includes the following steps:

[0047] S100: When it is detected that a target vehicle is about to enter a tunnel, a driving path that has been planned for the target vehicle is determined as a pending path.

[0048] The target vehicle in this specification is the vehicle for which positioning and navigation are to be performed. In actual scenarios, it may be necessary to perform positioning and navigation for several (one or more) vehicles, in which case these vehicles are identified as target vehicles one by one.

[0049] The driving path is a path used for vehicle navigation, which is used to characterize the driving trajectory of the target vehicle in the future and the driving speed on the driving trajectory. The driving trajectory is specific to the lane. The driving trajectory can run through the entire tunnel. In some cases, the driving trajectory needs to be planned according to the current position of the target vehicle, and it is possible that the end of the driving path is in the tunnel.

[0050] As for how to determine whether the target vehicle is about to enter the tunnel, in an optional embodiment of the present specification, when it is detected that the distance between the target vehicle and the entrance of the tunnel is a specified distance (at this time, the target vehicle has not yet entered the tunnel, and the technical means in the relevant technology can achieve the determination of the real-time position of the vehicle. The entrance of the tunnel can be determined by the data detected by the detection equipment (such as image acquisition equipment) on the target vehicle, or it can be identified from the pending path), it is determined that the target vehicle is about to enter the tunnel. The specified distance in this specification is positively correlated with the current traffic volume of the tunnel (the traffic volume can be monitored by the monitoring equipment in the tunnel and sent to the target vehicle through the server. The larger the traffic volume, the higher the driving risk in the tunnel, so the positioning strategy for the target vehicle should be planned in advance), positively correlated with the number of lanes contained in the tunnel (the more lanes, the greater the possibility of the target vehicle changing lanes when entering the tunnel, and lane changes are usually not allowed inside the tunnel, so the positioning strategy for the target vehicle should be planned in advance), and positively correlated with the average speed of the target vehicle in the tunnel represented by the pending path (the driving speed of the vehicle is not only related to the environment in which the vehicle is located, but also to the needs of the driver. Usually, when the driver pre-sets the time to arrive at the destination, the path planning will also be combined with the driver's needs. The average speed can reflect the driver's needs to a certain extent. The higher the average speed, the higher the risk, so the positioning strategy for the target vehicle should be planned in advance).

[0051] In a further optional embodiment of the present specification, the specified distance in the tunnel where lane changes are allowed is smaller than the specified distance in the tunnel where lane changes are not allowed. In the tunnel where lane changes are allowed, the positioning strategy can be adjusted in time for lane changes.

[0052] S102: Determine the lane in which the target vehicle is traveling in the pending path as the pending lane.

[0053] Normally, lane changes are not allowed in tunnels, so the pending lane will usually not be adjusted.

[0054] S104: Taking the center line of the pending lane as a reference, predicting the number of preset landmarks that appear within the field of vision of the target vehicle within a first specified time period when the target vehicle travels along the pending path, as a first number.

[0055] A three-dimensional model of the tunnel can be constructed in advance. The data for constructing the three-dimensional model can be the data published by the management of the tunnel, or it can be the data obtained by the party providing technical support for navigation through road sampling. The number and location of the markers in the tunnel are usually planned at the stage of tunnel design. In an optional embodiment of this specification, the marker is a lighting device in the tunnel. For example, a lighting device is set every 0.8 meters in the tunnel. If the tunnel is straight, the number of lighting devices that can be observed within the field of vision of the target vehicle during the process of the target vehicle driving in the tunnel does not change over time. If the tunnel turns, the lighting devices within the field of vision of the target vehicle will increase. If the target vehicle is driving on a downhill section, the lighting devices within its field of vision will also increase (the value of the first number becomes larger). Whether it is a turn or a downhill section, it is a location where traffic accidents are prone to occur in the tunnel environment. These locations are worthy of attention so that the target vehicle can be located in time, and the path can be adjusted or replanned in time according to the positioning result.

[0056] In the related art, any technical means that can simulate the field of view of the target vehicle in the three-dimensional model of the tunnel are applicable to this specification when conditions permit. Optionally, in the process of simulating the field of view of the target vehicle, Unity3D is used to drive the three-dimensional model of the tunnel and the target vehicle.

[0057] S106: When the first number is greater than a preset number threshold, the position of the target vehicle on the to-be-determined path is used as a first target position.

[0058] When the first number is greater than a preset number threshold, it indicates that the target vehicle has entered a high-risk location, and the vehicle needs to be positioned to focus on road conditions and navigation effects to avoid accidents.

[0059] When the target vehicle is traveling in the tunnel, several first target positions may be determined, and positioning may be performed at each first target position. It is also possible that the first target position cannot be determined, indicating that the road conditions in the tunnel are good and conducive to driving, and positioning may be performed at a preset frequency.

[0060] In an optional embodiment of the present specification, the quantity threshold may be a preset empirical value. In another optional embodiment of the present specification, the quantity threshold is positively correlated with the number of lighting devices in the tunnel (the more lighting devices in the tunnel, the longer and / or wider the tunnel, and the influence of the long-distance lighting devices and the lighting devices of the opposite lane on the judgment should be reduced to a certain extent), negatively correlated with the distribution density of the lighting devices in the tunnel (the distribution density is usually designed according to the structure of the tunnel and the power of the lighting devices. The higher the distribution density, the more stringent the lighting requirements and the more hidden dangers there may be in the tunnel environment), and positively correlated with the estimated time required for the target vehicle to travel along the pending path (the longer the time, the longer the tunnel or the lower the driving speed. There is usually no intersection inside the tunnel, and the road conditions are not complicated. The tunnel will be designed to be as straight as possible during the design process. When the lane change demand is low, the positioning frequency can be reduced).

[0061] S108: After the target vehicle enters the tunnel, if it is detected that the target vehicle has reached the first target position, positioning the target vehicle is performed.

[0062] In the related art, the technical means capable of positioning the vehicle can be combined with the technical solutions in this specification, if conditions permit, to achieve navigation of the target vehicle.

[0063] The method and system in this specification, when the target vehicle is about to enter the tunnel, determine the location of the target vehicle based on the pre-planned driving path and the structural facilities of the tunnel. On the one hand, it can avoid errors and resource consumption caused by excessively frequent positioning; on the other hand, it can avoid the reduction of navigation efficiency caused by unilaterally reducing the positioning frequency. Under normal circumstances, due to the obstruction of natural barriers such as mountains, the internal light of the tunnel will be weak. For this reason, in order to ensure the safety of vehicle traffic, the designers of the tunnel will set up markers inside the tunnel to assist vehicle traffic. More dense markers will be set up at locations with higher traffic risks in the tunnel (for example, bends, obstacles, etc.). The method and system in this specification use the setting of markers to predict the driving risk of the target vehicle, so as to locate it at a location with higher driving risk, which can reduce the positioning frequency to a certain extent while ensuring positioning efficiency.

[0064] In an optional embodiment of the present specification, the result obtained by performing positioning of the target vehicle is used as the positioning result. Based on the positioning result, the driving path of the target vehicle is replanned to update the pending path. In a tunnel where lane change is allowed, updating the pending path may be changing the lane of the target vehicle and adjusting the driving speed of the target vehicle on the pending path; in a tunnel where lane change is not allowed, updating the pending path may be adjusting the driving speed of the target vehicle on the pending path.

[0065] When the target vehicle reaches the first first target position, it indicates that there is indeed a high-risk position worthy of attention inside the tunnel, and there may be high-risk positions thereafter, which is worthy of vigilance. Therefore, in an optional embodiment of this specification, during the process of the target vehicle traveling on the updated pending path, the number of the markers that appear within the field of vision of the target vehicle is accumulated within the second specified time period as the second number (the technical means for identifying markers is the same or similar to the technical means used in the process of determining the first number in the aforementioned embodiment, and will not be repeated here). When the second number is greater than the number threshold, the position of the target vehicle on the pending path is taken as the second target position. The second target position is also a position worthy of attention. Since the first position is determined based on a preset model, it is difficult to ensure that there is a difference with the actual driving environment. The determination of the second target position is conducive to improving the ability to identify risks. If it is detected that the target vehicle arrives at the first target position or the second target position, the positioning of the target vehicle is performed. In the case where the tunnel does not allow lane change, the second specified time length is less than the first specified time length. The value of the second designated time is smaller, which can effectively improve the real-time risk identification ability when driving in the tunnel. The design of the tunnel that does not allow lane changes is mostly based on its own structural conditions and driving rules set to reduce risks. Such tunnels may have higher risks caused by their own structures. In this case, a shorter second designated time is conducive to adapting to the conditions of the tunnel.

[0066] Furthermore, this specification also provides a vehicle positioning and navigation system based on a tunnel environment, the system comprising:

[0067] The pending path determination module is configured to: when detecting that a target vehicle is about to enter a tunnel, determine a driving path that has been planned for the target vehicle as a pending path; the pending path represents at least a portion of the driving trajectory of the target vehicle in the tunnel and the driving speed on the driving trajectory;

[0068] A pending lane determination module is configured to: determine the lane in which the target vehicle is traveling in the pending path as the pending lane;

[0069] The first quantity determination module is configured to: take the center line of the pending lane as a reference, predict the number of preset markers that appear within the field of vision of the target vehicle within a first specified time period when the target vehicle travels along the pending path, as a first quantity;

[0070] A first target position determination module is configured to: when the first number is greater than a preset number threshold, the position of the target vehicle on the to-be-determined path is used as a first target position;

[0071] The positioning module is configured to: after the target vehicle enters the tunnel, if it is detected that the target vehicle reaches the first target position, perform positioning of the target vehicle.

[0072] The system can execute the method in any of the aforementioned embodiments and can obtain the same or similar technical effects, which will not be described in detail here.

[0073] Figure 2 This is a schematic diagram of the structure of an electronic device according to an embodiment of the present application. Figure 2 At the hardware level, the electronic device includes a processor, and optionally also includes an internal bus, a network interface, and a memory. The memory may include a memory, such as a high-speed random access memory (RAM), and may also include a non-volatile memory (non-volatile memory), such as at least one disk storage. Of course, the electronic device may also include hardware required for other services.

[0074] The processor, network interface and memory can be interconnected through an internal bus, which can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus or an EMI (Extended Industry Standard Architecture) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 2 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0075] The memory is used to store the program. Specifically, the program may include a program code, and the program code includes a computer operation instruction. The memory may include a memory and a non-volatile memory, and provides instructions and data to the processor.

[0076] The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it, forming a vehicle positioning and navigation system based on the tunnel environment at the logical level. The processor executes the program stored in the memory and is specifically used to execute any of the above-mentioned vehicle positioning and navigation methods based on the tunnel environment.

[0077] The above application Figure 1 The vehicle positioning and navigation method based on the tunnel environment disclosed in the illustrated embodiment can be applied to a processor or implemented by a processor. The processor may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by an integrated logic circuit of hardware in the processor or instructions in the form of software. The above processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The various methods, steps and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in the embodiments of the present application can be directly embodied as being executed by a hardware decoding processor, or can be executed by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium mature in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in a memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.

[0078] The electronic device may also perform Figure 1 A vehicle positioning and navigation method based on a tunnel environment is implemented Figure 1 The functions of the illustrated embodiment will not be described in detail in the embodiments of the present application.

[0079] An embodiment of the present application also proposes a computer-readable storage medium, which stores one or more programs, and the one or more programs include instructions. When the instructions are executed by an electronic device including multiple application programs, any one of the aforementioned vehicle positioning and navigation methods based on a tunnel environment is executed.

[0080] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0081] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A system that specifies the functions of a box or multiple boxes.

[0082] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory produce a product including an instruction system, which is implemented in the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0083] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0084] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0085] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0086] Computer readable media include permanent and non-permanent, removable and non-removable media that can be used to store information by any method or technology. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transit media), such as modulated data signals and carrier waves.

[0087] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0088] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0089] The above is only an embodiment of the present application and is 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 in the scope of the claims of the present application.

Claims

1. A vehicle positioning and navigation method based on a tunnel environment, characterized in that: The method comprises: When it is detected that a target vehicle is about to enter a tunnel, a driving path that has been planned for the target vehicle is determined as a pending path; the pending path represents at least a portion of the driving trajectory of the target vehicle in the tunnel and the driving speed on the driving trajectory; Determine the lane in which the target vehicle is traveling in the pending path as the pending lane; Taking the center line of the pending lane as a reference, predicting the number of preset markers that appear within the field of vision of the target vehicle within a first specified time period when the target vehicle travels along the pending path, as a first number; the markers are lighting equipment in the tunnel; When the first number is greater than a preset number threshold, the position of the target vehicle on the undetermined path is used as a first target position; After the target vehicle enters the tunnel, if it is detected that the target vehicle reaches the first target position, positioning of the target vehicle is performed.

2. The method according to claim 1, characterized in that: The method further comprises: The result obtained by performing positioning of the target vehicle is used as the positioning result; Based on the positioning result, a driving path is replanned for the target vehicle to update the pending path.

3. The method according to claim 2, characterized in that: The method further comprises: In the process of the target vehicle traveling on the updated pending path, the number of the markers appearing within the field of vision of the target vehicle within a second specified time period is accumulated as a second number; When the second number is greater than the number threshold, the position of the target vehicle on the undetermined path is used as a second target position; If it is detected that the target vehicle reaches the first target position or the second target position, positioning of the target vehicle is performed.

4. The method according to claim 1, characterized in that: The method further comprises: When it is detected that the distance between the target vehicle and the entrance of the tunnel is a specified distance, it is determined that the target vehicle is about to enter the tunnel; the specified distance is positively correlated with the current traffic flow of the tunnel, the number of lanes included in the tunnel, and the average speed of the target vehicle in the tunnel represented by the pending path.

5. The method according to claim 4, characterized in that: The method further comprises: The designated distance when lane changing is allowed in the tunnel is smaller than the designated distance when lane changing is not allowed in the tunnel.

6. The method according to claim 1, characterized in that: The method further comprises: The marker is a lighting device in the tunnel; the quantity threshold is positively correlated with the quantity of the lighting devices, negatively correlated with the distribution density of the lighting devices, and positively correlated with the estimated time required for the target vehicle to travel along the pending path.

7. The method according to claim 3, characterized in that: The method further comprises: When the tunnel does not allow lane changing, the second specified time period is less than the first specified time period.

8. A vehicle positioning and navigation system based on a tunnel environment, characterized in that: The system comprises: The pending path determination module is configured to: when detecting that a target vehicle is about to enter a tunnel, determine a driving path that has been planned for the target vehicle as a pending path; the pending path represents at least a portion of the driving trajectory of the target vehicle in the tunnel and the driving speed on the driving trajectory; A pending lane determination module is configured to: determine the lane in which the target vehicle is traveling in the pending path as the pending lane; The first quantity determination module is configured to: take the center line of the pending lane as a reference, predict the number of preset markers that appear within the field of vision of the target vehicle within a first specified time period when the target vehicle travels along the pending path, as a first quantity; the marker is a lighting device in the tunnel; A first target position determination module is configured to: when the first number is greater than a preset number threshold, the position of the target vehicle on the to-be-determined path is used as a first target position; The positioning module is configured to: after the target vehicle enters the tunnel, if it is detected that the target vehicle reaches the first target position, perform positioning of the target vehicle.

9. An electronic device, comprising: processor; as well as A memory arranged to store computer executable instructions, which when executed cause the processor to perform the method of any one of claims 1 to 7.

10. A computer-readable storage medium storing one or more programs, which, when executed by an electronic device including a plurality of application programs, causes the electronic device to execute any one of the methods of claims 1 to 7.

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