Vehicle driving navigation method, system and equipment, medium and vehicle

Abstract

The invention provides a vehicle driving navigation method, system and device, a medium and a vehicle, the vehicle driving navigation method comprises the following steps: using a navigation information extraction module to extract navigation information in vehicle navigation, the navigation information comprising foreground lane information and steering icon information; the front-view camera and the radar are used for obtaining the real-time information of the vehicle, wherein the real-time information comprises the current lane information; and processing the navigation information and the live information by utilizing a navigation information processing module so as to judge whether the current lane information of the vehicle is matched with the foreground lane information or not, if so, obtaining a lane changing instruction according to the foreground lane information, and if not, obtaining the lane changing instruction according to the steering icon information. According to the vehicle driving navigation method, automatic lane changing operation of the vehicle can be completed, and the vehicle can be accurately navigated in the absence of a high-precision map.

Description

Technical Field

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

[0002] Vehicle driving navigation systems cover several key areas, mainly including sensor technology, positioning technology, map data and decision-making algorithms. These technologies work together to enable autonomous navigation and driving of vehicles in complex road environments. One of the core functions of autonomous driving technology is the lane change function, which involves the vehicle autonomously switching lanes on highways or urban roads. Currently, autonomous driving systems usually rely on high-precision maps to achieve this function. High-precision maps help the system accurately determine the timing and route of lane changes by providing detailed road information such as lane width, traffic signs and road curves. However, this reliance also brings many challenges. The cost of creating and maintaining high-precision maps, their adaptability in dynamic environments and their coverage are all significant issues. In this case, relying on information from high-precision maps may cause the autonomous driving system to be unable to make accurate lane change decisions, thereby affecting driving safety. Summary of the invention

[0003] In view of the shortcomings of the prior art mentioned above, the purpose of the present application is to provide a vehicle driving navigation method, system, device and medium, and vehicle to solve the problem that autonomous driving technology is overly dependent on high-precision maps.

[0004] In a first aspect, the present application provides a vehicle driving navigation method, which includes: using a navigation information extraction module to extract navigation information in the vehicle navigation, the navigation information including foreground lane information and turn icon information; using a front-view camera and a radar to obtain the vehicle's real-time information, the real-time information including current lane information; using a navigation information processing module to process the navigation information and the real-time information to determine whether the vehicle's current lane information matches the foreground lane information, and if so, obtaining a lane change instruction based on the foreground lane information, and if not, obtaining a lane change instruction based on the turn icon information.

[0005] In this application, the navigation information extraction module is used to extract the navigation information in the vehicle navigation, the front-view camera and radar are used to obtain the real-time information of the vehicle, and the navigation information processing module is used to process the navigation information and the real-time information to determine whether the current lane information and the foreground lane information match. If they match, the lane change instruction is obtained according to the foreground lane information, and if they do not match, the lane change instruction is obtained according to the turn icon information. This vehicle driving navigation method can complete the automatic lane change operation of the vehicle and accurately navigate the vehicle in the absence of a high-precision map.

[0006] In an implementation of the first aspect, extracting navigation information in vehicle navigation using a navigation information extraction module includes: generating a navigation route in the vehicle navigation according to a navigation starting point and a terminal; and extracting the navigation information in the vehicle navigation using the navigation information extraction module according to the navigation route.

[0007] In an implementation of the first aspect, using a forward-looking camera and a radar to obtain real-time information about the vehicle includes: using a forward-looking camera to obtain lane line information and curb information of the road in front of the vehicle, and using a radar to obtain environmental information around the vehicle; using a fusion perception module to fuse the lane line information, the curb information, and the environmental information to obtain fusion information; and using a target screening module to filter the fusion information to obtain the real-time information of the vehicle.

[0008] In an implementation of the first aspect, when a vehicle needs to change lanes to the right, obtaining a lane change instruction includes: obtaining the right lane line and bifurcation point of the vehicle based on the current lane information; performing fitting processing using the right lane line and the bifurcation point to obtain a gate entry guide line; performing translation processing using the right lane line and the bifurcation point to obtain a gate interior guide line; and assisting the vehicle in obtaining a lane change instruction based on the gate entry guide line and the gate interior guide line.

[0009] In an implementation of the first aspect, fitting processing is performed using the right lane line and the bifurcation point to obtain a gate entrance guide line, including: obtaining a projection point of the bifurcation point using the bifurcation point and the right lane line; obtaining a center position using the bifurcation point and the projection point of the bifurcation point; and fitting processing is performed using the right lane line and the center position at the current position of the vehicle to obtain the gate entrance guide line.

[0010] In an implementation of the first aspect, using the right lane line and the bifurcation point for translation processing to obtain the guide line within the gate includes: using the right lane line and the bifurcation point to obtain the left lane line; and obtaining the guide line within the gate based on the left lane line and the right lane line.

[0011] In a second aspect, the present application provides a vehicle driving navigation system, which includes: a navigation information acquisition module, which is used to use the navigation information extraction module to extract navigation information in the vehicle navigation, and the navigation information includes foreground lane information and turn icon information; a real-time information acquisition module, which is used to use a front-view camera and a radar to obtain the vehicle's real-time information, and the real-time information includes current lane information; a lane change operation module, which is used to use a navigation information processing module to process the navigation information and the real-time information to determine whether the vehicle's current lane information matches the foreground lane information. If so, a lane change instruction is obtained according to the foreground lane information; if not, a lane change instruction is obtained according to the turn icon information.

[0012] In a third aspect, the present application provides a vehicle, comprising: a vehicle computer end, for providing navigation information to the vehicle according to the starting point and end point of the journey and sending it to an intelligent driving control end and a vehicle controller; an intelligent driving control end, for obtaining the navigation information of the vehicle computer end and executing the vehicle driving navigation method described in any one of the first aspects to obtain vehicle control instructions; a vehicle controller, for receiving the navigation information of the vehicle computer end and the instructions of the intelligent driving control end and executing the vehicle control instructions.

[0013] In a fourth aspect, the present application provides an electronic device, comprising: a memory for storing a computer program; and a processor for executing the computer program stored in the memory so that the electronic device performs the vehicle driving navigation method as described in any one of the first aspects.

[0014] In a fifth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the vehicle driving navigation method described in any one of the first aspects. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1A Shown is a schematic diagram of an application scenario of the vehicle driving navigation method described in this application.

[0016] Figure 1B Shown are structural diagrams of the client-cloud interaction scenarios in these implementations.

[0017] Figure 2 The flowchart of the vehicle driving navigation method described in the embodiment of the present application is shown as follows:

[0018] Figure 3 Shown is a flow chart of the vehicle driving navigation method described in an embodiment of the present application.

[0019] Figure 4A Shown is a flow chart of the vehicle driving navigation method described in an embodiment of the present application.

[0020] Figure 4B Shown is a schematic diagram of a vehicle according to an embodiment of the present application.

[0021] Figure 5 Shown is a flow chart of the vehicle driving navigation method described in an embodiment of the present application.

[0022] Figure 6 Shown is a flow chart of the vehicle driving navigation method described in an embodiment of the present application.

[0023] Fig. 7A Shown is a flow chart of the vehicle driving navigation method described in an embodiment of the present application.

[0024] Figure 7B Shown is a schematic diagram of a lane change to the right according to an embodiment of the present application.

[0025] Figure 8 Shown is a schematic diagram of the structure of the vehicle driving navigation system described in an embodiment of the present application.

[0026] Fig. 9 Shown is a schematic structural diagram of the vehicle described in an embodiment of the present application.

[0027] Fig.10 Shown is a schematic diagram of the structure of an electronic device described in an embodiment of the present application.

[0028] Component number description

[0029] 1 Vehicle driving navigation device

[0030] 11 Driving information collection equipment

[0031] 12 Local Processor

[0032] 13 Display Terminal

[0033] 2-end-cloud interactive system

[0034] 20 Terminal

[0035] 21 Cloud Server

[0036] 100 Vehicle driving navigation system

[0037] 110 Navigation information acquisition module

[0038] 120 Live Information Acquisition Module

[0039] 130 Lane change operation module

[0040] 200 vehicles

[0041] 210 Car terminal

[0042] 220 Intelligent Driving Control Terminal

[0043] 230 Vehicle Controller

[0044] 300 Electronic equipment

[0045] 310 Memory

[0046] 320 processor

[0047] 330 Display

[0048] Steps S11 to S13

[0049] Steps S111 to S112

[0050] Steps S121 to S123

[0051] Steps S131 to S134

[0052] Steps S1321 to S1323

[0053] Steps S1331 to S1332 DETAILED DESCRIPTION

[0054] The following describes the embodiments of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0055] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application, and thus the drawings only show components related to the present application rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed at will, and the component layout may also be more complicated.

[0056] It should be noted that in the embodiments of the present application, the words "optionally" or "for example" represent examples, illustrations or descriptions. Any embodiment or design described as "optionally" or "for example" in the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "optionally" or "for example" is intended to present related concepts in a specific way.

[0057] With the continuous development of vehicle electrification and intelligent technology, the application of automatic assisted driving systems in vehicles is becoming more and more extensive. High-performance assisted driving systems rely not only on high-precision positioning systems, but also on high-precision maps. However, the cost of generating high-precision maps is very high, and the update frequency is very fast. This makes it increasingly difficult for high-level assisted driving technology to be truly commercialized on a large scale. Therefore, in the context of pursuing "no high-precision maps", concepts such as "no map", "light high-precision map", "SD Pro map" and "HD Lite map" have emerged in an endless stream, bringing new challenges to the current status and subsequent development of autonomous driving technology.

[0058] At least to address the above-mentioned problems, an embodiment of the present application provides a vehicle driving navigation method, which includes: using a navigation information extraction module to extract navigation information in the vehicle navigation, the navigation information including foreground lane information and turn icon information; using a front-view camera and a radar to obtain the vehicle's real-time information, the real-time information including current lane information; using a navigation information processing module to process the navigation information and the real-time information to determine whether the vehicle's current lane information matches the foreground lane information, and if so, obtaining a lane change instruction based on the foreground lane information, and if not, obtaining a lane change instruction based on the turn icon information.

[0059] In the embodiment of the present application, the navigation information in the vehicle navigation is extracted by the navigation information extraction module, the real-time information of the vehicle is obtained by the front-view camera and the radar, and the navigation information processing module is used to process the navigation information and the real-time information to determine whether the current lane information and the foreground lane information match. If they match, the lane change instruction is obtained according to the foreground lane information, and if they do not match, the lane change instruction is obtained according to the turn icon information. This vehicle driving navigation method can complete the automatic lane change operation of the vehicle and accurately navigate the vehicle in the absence of a high-precision map.

[0060] Figure 1A The vehicle driving navigation device 1 can be used to implement the vehicle driving navigation method provided in the embodiment of the present application, but the application scenario of the vehicle driving navigation method provided in the embodiment of the present application is not limited to Figure 1A The vehicle driving navigation device 1 shown. Figure 1A As shown, the vehicle driving navigation device 1 includes a driving information collection device 11, a local processor 12 and a display terminal 13. The vehicle driving navigation method provided in the embodiment of the present application can be applied to the local processor 12.

[0061] in, Figure 1AThe local processor 12 in the embodiment may be a local processor or a local processor cluster composed of multiple local processors or a cloud computing center, etc., which is not limited to the specifics herein. Figure 1A Only one driving information collection device 11, one local processor 12 and one display terminal 13 are shown, but it should be understood that Figure 1A The examples are only used to understand the present solution, and the specific numbers of local processors 12 and display terminals 13 should be flexibly determined based on actual conditions.

[0062] In some other implementations, the vehicle driving navigation device 1 may not include the display terminal 13, but only include a local processor 12 with a display function and a driving information collection device 11. The vehicle driving navigation method provided in the embodiment of the present application can be applied to the local processor 12. The local processor 12 with a display function may include a tablet computer, a laptop computer, a PDA, a mobile phone, a personal computer (PC) and a voice interaction device, and may also be a monitoring device, a face recognition device, etc., which is not limited here.

[0063] In still other implementations, the vehicle driving navigation method described in the present application may be applied to end-cloud interaction scenarios. Figure 1B The following is a schematic diagram of the structure of the client-cloud interaction scenario in these implementations. Figure 1B As shown, the terminal-cloud interaction system 2 includes a terminal 20 and a cloud server 21. The terminal 20 and the cloud server 21 can communicate with each other, and the communication method is not limited to wired or wireless.

[0064] Among them, the terminal 20 can be mobile or fixed, for example, the terminal 20 can be a wireless terminal or a wired terminal. The wireless terminal can refer to a device with wireless transceiver function, which can be deployed indoors, outdoors and in industrial workshops. The terminal 20 can be a vehicle-mounted system, a mobile phone (Mobile Phone), a tablet computer (Pad), a laptop computer, etc., which is not limited here. The cloud server 21 can include one or more servers, or one or more processing nodes, or one or more virtual machines running on the server. The cloud server 21 can also be called a server cluster, a management platform, a data processing center, etc., which is not limited in the embodiments of the present application.

[0065] The technical solutions in the embodiments of the present application will be described in detail below in conjunction with the drawings in the embodiments of the present application.

[0066] The following embodiments of the present application provide a vehicle driving navigation method, for example, Figure 1A The local processor 12 shown or Figure 1B It is implemented by the cloud server 21 shown. Figure 2 The flowchart of the vehicle driving navigation method described in the embodiment of the present application is shown as follows: Figure 2 As shown, the vehicle driving navigation method includes steps S11 to S13.

[0067] Step S11, using a navigation information extraction module to extract navigation information in the vehicle navigation, the navigation information including foreground lane information and turn icon information. Optionally, the navigation information extraction module is used to obtain navigation information from the vehicle terminal and send it to the navigation information processing module.

[0068] Step S12, using a front-view camera and a radar to obtain real-time information of the vehicle, the real-time information including current lane information. Optionally, the front-view camera and the radar are used to collect the real-time information of the vehicle and send it to the navigation information processing module.

[0069] Step S13, using the navigation information processing module to process the navigation information and the real-time information to determine whether the current lane information of the vehicle matches the foreground lane information. If so, obtain the lane change instruction according to the foreground lane information; if not, obtain the lane change instruction according to the turn icon information.

[0070] In some possible implementations, the navigation information extraction module is arranged at the vehicle terminal, and the vehicle terminal includes a navigation HMI (Human machine interface) and a navigation engine. The navigation information extraction module interacts with the navigation HMI and the navigation engine respectively, and is used to extract navigation information in the vehicle navigation. The navigation information includes current lane information, turn icon information, and road speed limit information. The real-time information of the vehicle is obtained by using a front-view camera and a radar, and the radar includes a front radar, a front corner radar, and a rear corner radar. The real-time information includes current lane information, lane line information, and roadside information. The navigation information processing module is used to process the navigation information and the real-time information to determine whether the current lane information of the vehicle matches the foreground lane information, that is, whether they are the same. If so, a lane change instruction is obtained according to the foreground lane information. If not, a lane change instruction is obtained according to the turn icon information. The lane change instruction is used to control the vehicle to perform an automatic lane change operation.

[0071] In the embodiment of the present application, the navigation information in the vehicle navigation is extracted by the navigation information extraction module, the real-time information of the vehicle is obtained by the front-view camera and the radar, and the navigation information processing module is used to process the navigation information and the real-time information to determine whether the current lane information and the foreground lane information match. If they match, the lane change instruction is obtained according to the foreground lane information, and if they do not match, the lane change instruction is obtained according to the turn icon information. This vehicle driving navigation method can complete the automatic lane change operation of the vehicle and accurately navigate the vehicle in the absence of a high-precision map.

[0072] Figure 3 The flowchart of the vehicle driving navigation method described in the embodiment of the present application is shown as follows: Figure 3 As shown, the step S11 includes steps S111 to S112.

[0073] Step S111, generating a navigation route in the vehicle navigation according to the navigation starting point and terminal.

[0074] Step S112: extracting the navigation information in the vehicle navigation using the navigation information extraction module according to the navigation route.

[0075] In some possible implementations, the vehicle terminal includes a navigation HMI and a navigation engine. The navigation HMI sends information to the navigation engine after receiving the start and end point instructions input by the user. The navigation engine is used to navigate the route according to the start and end point information, and feed back the navigation route to the navigation HMI. The navigation information extraction module interacts with the navigation HMI and the navigation engine to obtain the navigation information in the vehicle navigation according to the navigation route.

[0076] Figure 4A The flowchart of the vehicle driving navigation method described in the embodiment of the present application is shown as follows: Figure 4A As shown, the step S12 includes steps S121 to S123.

[0077] Step S121, using the front-view camera to obtain lane line information and curb information of the road ahead of the vehicle, and using the radar to obtain environmental information around the vehicle.

[0078] Step S122: using a fusion perception module to fuse the lane line information, the roadside information and the environment information to obtain fusion information.

[0079] Step S123, using a target screening module to screen the fusion information to obtain the real-time information of the vehicle.

[0080] In some possible implementations, Figure 4B Shown is a schematic diagram of a vehicle according to an embodiment of the present application. Figure 4BAs shown, the radar includes a front main radar, a front left corner radar, a front right corner radar, a rear left corner radar and a rear right corner radar. The front-view camera is used to obtain the lane line information and the curb information of the road in front of the vehicle, and each radar is used to obtain the environmental information around the vehicle. The lane line information, the curb information and the environmental information are fused and processed by a fusion perception module to obtain fusion information. The fusion perception module is used to receive the information from the front-view camera and the radar and perform fusion processing. The fusion information is filtered by a target screening module to obtain the real-time information of the vehicle. The target screening module is used to obtain the information sent by the perception fusion module and perform filtering processing.

[0081] Figure 5 The flowchart of the vehicle driving navigation method described in the embodiment of the present application is shown as follows: Figure 5 As shown, when the vehicle needs to change lanes to the right, step S13 includes steps S131 to S134.

[0082] Step S131, obtaining the right lane line and bifurcation point of the vehicle according to the current lane information.

[0083] Step S132, performing fitting processing using the right lane line and the bifurcation point to obtain a gate entry guide line.

[0084] Step S133, using the right lane line and the bifurcation point to perform translation processing to obtain the guide line in the gate.

[0085] Step S134, assisting the vehicle in obtaining a lane change instruction according to the gate entry guide line and the gate internal guide line.

[0086] In some possible implementations, when a vehicle needs to change lanes to the right, the right lane line and bifurcation point of the train vehicle are obtained according to the current lane information. The bifurcation point is generally the center point of the road bifurcation. The right lane line and the bifurcation point are used for fitting processing to obtain the vehicle's entry gate guide line before changing lanes. The right lane line and the bifurcation point are used to translate the right lane line to obtain the gate guide line. The vehicle is assisted in obtaining the lane change instruction according to the gate entry guide line and the gate guide line to perform the vehicle lane change operation.

[0087] Figure 6 The flowchart of the vehicle driving navigation method described in the embodiment of the present application is shown as follows: Figure 6 As shown, the step S132 includes steps S1321 to S1323.

[0088] Step S1321, using the bifurcation point and the right lane line to obtain the projection point of the bifurcation point.

[0089] Step S1322, obtaining a center position using the bifurcation point and the projection point of the bifurcation point.

[0090] Step S1323, performing fitting processing at the current position of the vehicle using the right lane line and the center position to obtain a gate entry guide line.

[0091] In some possible implementations, the bifurcation point and the right lane line are used to obtain a projection point of the bifurcation point. Optionally, the projection point of the bifurcation point is a point where the bifurcation point is mapped on the right lane line. The center position is obtained using the bifurcation point and the projection point of the bifurcation point. The center position is the location of the center point of the bifurcation point and the projection point of the bifurcation point. The right lane line and the center position are used to perform fitting processing at the current position of the vehicle to obtain the gate entry guide line.

[0092] Fig. 7A The flowchart of the vehicle driving navigation method described in the embodiment of the present application is shown as follows: Fig. 7A As shown, the step S133 includes steps S1331 to S1332.

[0093] Step S1331, using the right lane line and the bifurcation point to obtain the left lane line.

[0094] Step S1332, obtaining the in-gate guide line according to the left lane line and the right lane line.

[0095] In some possible implementations, Figure 7B The diagram shows a right lane change according to an embodiment of the present application. Figure 7B As shown in the figure, when the vehicle encounters a fork in the road and needs to change lanes to the right, the right lane line L0 and the bifurcation point A of the vehicle are obtained according to the current lane information. The projection point A of the bifurcation point is obtained using the bifurcation point A and the right lane line L0 r Using the bifurcation point A and the projection point A of the bifurcation point r Get the center position A c Using the right lane line L0 and the center position A c Perform fitting processing at the current position of the vehicle to obtain the gate entry guide line L c The left lane line L0' is obtained by using the right lane line L0 and the bifurcation point A. The in-gate guide line L is obtained according to the left lane line L0' and the right lane line L0. c '. According to the gate guide line L c and the gate inner guide line L c 'Assist the vehicle to obtain lane change instructions.

[0096] Figure 8 The structure diagram of the vehicle driving navigation system described in the embodiment of the present application is shown as follows: Figure 8 As shown, the vehicle driving navigation system 100 includes a navigation information acquisition module 110 , a real-time information acquisition module 120 and a lane change operation module 130 .

[0097] The navigation information acquisition module 110 is used to extract navigation information in vehicle navigation using a navigation information extraction module, wherein the navigation information includes foreground lane information and turn icon information.

[0098] The real-time information acquisition module 120 is used to acquire the real-time information of the vehicle using a front-view camera and a radar, and the real-time information includes current lane information.

[0099] The lane change operation module 130 is used to use the navigation information processing module to process the navigation information and the real-time information to determine whether the current lane information of the vehicle matches the foreground lane information. If so, the lane change instruction is obtained according to the foreground lane information; if not, the lane change instruction is obtained according to the turn icon information.

[0100] In some possible implementations, the navigation information extraction module 110 is arranged at the vehicle terminal, and the vehicle terminal includes a navigation HMI and a navigation engine. The navigation information extraction module 110 interacts with the navigation HMI and the navigation engine respectively, and is used to extract navigation information in the vehicle navigation. The navigation information includes current lane information, turn icon information, and road speed limit information. The real-time information acquisition module 120 is used to obtain the real-time information of the vehicle using a front-view camera and a radar, and the radar includes a front radar, a front corner radar, and a rear corner radar. The real-time information includes current lane information, lane line information, and roadside information. The lane change operation module 130 is used to process the navigation information and the real-time information using a navigation information processing module to determine whether the current lane information of the vehicle matches the foreground lane information, that is, whether they are the same. If so, a lane change instruction is obtained according to the foreground lane information. If not, a lane change instruction is obtained according to the turn icon information. The lane change instruction is used to control the vehicle to perform an automatic lane change operation.

[0101] In the embodiment of the present application, the navigation information extraction module 110 is used to extract navigation information in vehicle navigation using the navigation information extraction module, the real-time information acquisition module 120 is used to obtain the real-time information of the vehicle using the front-view camera and radar, and the lane change operation module 130 is used to process the navigation information and the real-time information using the navigation information processing module to determine whether the current lane information and the foreground lane information match, and if they match, the lane change instruction is obtained according to the foreground lane information, and if they do not match, the lane change instruction is obtained according to the turn icon information. This vehicle driving navigation system 100 can complete the automatic lane change operation of the vehicle and accurately navigate the vehicle in the absence of a high-precision map.

[0102] Fig. 9 The structure diagram of the vehicle described in the embodiment of the present application is shown as follows: Fig. 9 As shown, the vehicle 200 includes a vehicle machine end 210, an intelligent driving control end 220 and a vehicle controller 230.

[0103] The vehicle terminal 210 is used to provide navigation information for the vehicle according to the starting point and the end point of the journey and send it to the intelligent driving control terminal 220 and the vehicle controller 230.

[0104] The intelligent driving control terminal 220 is used to obtain the navigation information of the vehicle terminal 210 and execute the vehicle driving navigation method according to any one of claims 1 to 6 to obtain vehicle control instructions.

[0105] The vehicle controller 230 is used to receive the navigation information from the vehicle terminal 210 and the instructions from the intelligent driving control terminal 220 and execute the vehicle control instructions.

[0106] In some possible implementations, the autonomous driving vehicle 200 includes a vehicle terminal 210, an intelligent driving control terminal 220, and a vehicle controller 230. The vehicle terminal 210 includes a navigation HMI, a navigation engine, and a navigation information extraction module, which is used to provide navigation information for the vehicle according to the starting point and the end point of the trip and send it to the intelligent driving control terminal 220 and the vehicle controller 230. The intelligent driving control terminal 220 includes a perception fusion module, a target screening module, a decision module, a planning module, a control module, and a navigation information processing module. The perception fusion module is used to obtain the information collected by the front-view camera and the radar and perform fusion processing to obtain fusion information. The target screening module is used to filter the fusion information to obtain the real-time information of the vehicle. The navigation information processing module is used to process the vehicle's navigation information and the information of the front-view camera and the radar to obtain the vehicle's entry and exit ramp information and lane change time. The decision module is used to analyze and process the real-time information, the vehicle's entry and exit ramp information, and the lane change time to generate a lane change instruction, a cruise instruction, or a takeover instruction. The planning module is used to obtain the lane change instruction, the cruise instruction or the takeover instruction, generate a lateral control guide line and a longitudinal speed control curve and send them to the control module. The control module is used to interact with the vehicle controller 230 and send control information such as throttle, brake, and angle to the vehicle controller 230. The vehicle controller 230 is used to interact with the vehicle terminal 210 and the intelligent driving control terminal 220. The vehicle terminal 210 obtains the vehicle status from the vehicle controller 230, and the vehicle controller 230 obtains the vehicle control information from the vehicle terminal 210. The intelligent driving control terminal 220 obtains the vehicle speed or preset information from the vehicle controller 230, and the vehicle controller 230 obtains the throttle, brake and / or angle control instructions from the intelligent driving control terminal 220.

[0107] In the several embodiments provided in the present application, it should be understood that the disclosed system, device or method can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of modules / units is only a logical function division. There may be other division methods in actual implementation, such as multiple modules or units can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or modules or units, which can be electrical, mechanical or other forms.

[0108] The modules / units described as separate components may or may not be physically separated, and the components displayed as modules / units may or may not be physical modules, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules / units may be selected according to actual needs to achieve the purpose of the embodiments of the present application. For example, the functional modules / units in the various embodiments of the present application may be integrated into one processing module, or each module / unit may exist physically separately, or two or more modules / units may be integrated into one module / unit.

[0109] Those of ordinary skill in the art should further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0110] An embodiment of the present application also provides an electronic device. Fig.10 The structure diagram of the electronic device 300 according to the embodiment of the present application is shown. Figure 3 As shown, in this embodiment, the electronic device 300 includes a memory 310 and a processor 320 .

[0111] The memory 310 is used to store computer programs; preferably, the memory 310 includes: ROM, RAM, disk, USB flash drive, memory card or CD-ROM and other media that can store program codes.

[0112] Specifically, the memory 310 may include a computer system readable medium in the form of a volatile memory, such as a random access memory (RAM) and / or a cache memory. The electronic device 300 may further include other removable / non-removable, volatile / non-volatile computer system storage media. The memory 310 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the various embodiments of the present application.

[0113] The processor 320 is connected to the memory 310 and is used to execute the computer program stored in the memory 310 so that the electronic device 300 executes the vehicle driving navigation method described in any embodiment of the present application.

[0114] Optionally, the processor 320 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 gate or transistor logic devices, discrete hardware components.

[0115] Optionally, the electronic device 300 in this embodiment may further include a display 330. The display 330 is communicatively connected to the memory 310 and the processor 320, and is used to display a related graphical user interface (GUI) interaction interface of the vehicle driving navigation method described in the embodiment of the present application.

[0116] The embodiment of the present application further provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the vehicle driving navigation method described in any embodiment of the present application is implemented.

[0117] The descriptions of the processes or structures corresponding to the above-mentioned figures have different emphases. For parts that are not described in detail in a certain process or structure, please refer to the relevant descriptions of other processes or structures.

[0118] The above embodiments are merely illustrative of the principles and effects of the present application and are not intended to limit the present application. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by a person of ordinary skill in the art without departing from the spirit and technical ideas disclosed in the present application shall still be covered by the claims of the present application.

Claims

1. A vehicle driving navigation method, characterized in that: include: Extracting navigation information from vehicle navigation using a navigation information extraction module, wherein the navigation information includes foreground lane information and turn icon information; Acquiring real-time information of the vehicle using a front-view camera and a radar, wherein the real-time information includes current lane information; The navigation information and the real-time information are processed by a navigation information processing module to determine whether the current lane information of the vehicle matches the foreground lane information. If so, a lane change instruction is obtained according to the foreground lane information; if not, a lane change instruction is obtained according to the turn icon information.

2. The vehicle driving navigation method according to claim 1, characterized in that: The navigation information extraction module is used to extract the navigation information in the vehicle navigation, including: Generate a navigation route in vehicle navigation according to the navigation starting point and terminal; The navigation information extraction module is used to extract the navigation information in the vehicle navigation according to the navigation route.

3. The vehicle driving navigation method according to claim 1, characterized in that: Using forward-looking cameras and radar to obtain real-time information about the vehicle includes: The front-view camera is used to obtain the lane line information and curb information of the road ahead of the vehicle, and the radar is used to obtain the environmental information around the vehicle; Using a fusion perception module to fuse the lane line information, the roadside information and the environment information to obtain fusion information; The fusion information is screened using a target screening module to obtain the real-time information of the vehicle.

4. The vehicle driving navigation method according to claim 1, characterized in that: When the vehicle needs to change lanes to the right, obtaining the lane change instruction includes: Acquire the right lane line and bifurcation point of the vehicle according to the current lane information; The right lane line and the bifurcation point are used for fitting processing to obtain a gate entry guide line; Using the right lane line and the bifurcation point to perform translation processing to obtain a guide line within the gate; The vehicle is assisted in obtaining a lane change instruction according to the gate entry guide line and the gate internal guide line.

5. The vehicle driving navigation method according to claim 4, characterized in that: Using the right lane line and the bifurcation point to perform fitting processing to obtain a gate entry guide line includes: Acquire a projection point of the bifurcation point using the bifurcation point and the right lane line; Acquire the center position using the bifurcation point and the projection point of the bifurcation point; The right lane line and the center position are used to perform fitting processing at the current position of the vehicle to obtain a gate entry guide line.

6. The vehicle driving navigation method according to claim 4, characterized in that: Using the right lane line and the bifurcation point to perform translation processing to obtain the guide line in the gate includes: Acquire the left lane line by using the right lane line and the bifurcation point; The in-gate guide line is obtained according to the left lane line and the right lane line.

7. A vehicle driving navigation system, characterized in that: include: A navigation information acquisition module, used to extract navigation information in vehicle navigation using the navigation information extraction module, wherein the navigation information includes foreground lane information and turn icon information; A real-time information acquisition module, used to acquire real-time information of the vehicle using a front-view camera and a radar, wherein the real-time information includes current lane information; The lane changing operation module is used to process the navigation information and the real-time information using the navigation information processing module to determine whether the current lane information of the vehicle matches the foreground lane information. If so, a lane changing instruction is obtained according to the foreground lane information; if not, a lane changing instruction is obtained according to the turn icon information.

8. A vehicle, characterized in that: include: The vehicle computer is used to provide navigation information for the vehicle based on the starting and ending points of the trip and send it to the intelligent driving control terminal and the vehicle controller; An intelligent driving control terminal, used to obtain the navigation information of the vehicle terminal and execute the vehicle driving navigation method according to any one of claims 1 to 6 to obtain vehicle control instructions; The vehicle controller is used to receive the navigation information from the vehicle computer and the instructions from the intelligent driving control terminal and execute the vehicle control instructions.

9. An electronic device, characterized in that: The electronic device comprises: Memory for storing computer programs; A processor, wherein the processor is used to execute the computer program stored in the memory so that the electronic device executes the vehicle driving navigation method as described in any one of claims 1 to 6.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the vehicle driving navigation method according to any one of claims 1 to 6 is implemented.

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