Vehicle Driving Navigation Method, System, Device, Medium and Vehicle

Abstract

The present application provides a vehicle driving navigation method, system, device, medium and vehicle. The vehicle driving navigation method includes: extracting navigation information in vehicle navigation by using a navigation information extraction module, where the navigation information includes foreground lane information and steering icon information; obtaining the actual situation information of the vehicle by using a front view camera and a radar, where the actual situation information includes current lane information; using a navigation information processing module to process the navigation information and the actual situation information 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 steering 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.

Description

Technical Field

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

[0002] The vehicle driving navigation system covers multiple key areas, mainly including sensor technology, positioning technology, map data and decision-making algorithms. These technologies work together to achieve autonomous navigation and driving of vehicles in complex road environments. One of the cores of autonomous driving technology is the lane-changing function, which involves the vehicle autonomously changing 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 judge the lane-changing timing and route by providing detailed road information such as lane widths, traffic signs and road curves. However, this reliance also brings many challenges. The creation and maintenance costs of high-precision maps, their adaptability in dynamic environments and coverage are all significant issues. In this case, relying on the information of high-precision maps may cause the autonomous driving system to make inaccurate lane-changing decisions, thus affecting driving safety. Summary of the Invention

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

[0004] In a first aspect, this application provides a vehicle driving navigation method, and the vehicle driving navigation method includes: using a navigation information extraction module to extract navigation information in vehicle navigation, where the navigation information includes foreground lane information and steering icon information; using a front-view camera and a radar to obtain the actual situation information of the vehicle, where the actual situation information includes current lane information; using a navigation information processing module to process the navigation information and the actual situation information 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 steering icon information.

[0005] In this application, a navigation information extraction module is used to extract navigation information in vehicle navigation, a front-view camera and a radar are used to obtain the actual situation information of the vehicle, and a navigation information processing module is used to process the navigation information and the actual situation information to determine whether the current lane information and the foreground lane information match. If they match, a lane-changing instruction is obtained according to the foreground lane information. If they do not match, a lane-changing instruction is obtained according to the steering icon information. Such a vehicle driving navigation method can complete the vehicle's automatic lane-changing operation 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 by using a navigation information extraction module includes: generating a navigation route in vehicle navigation according to a starting point and a terminal of the navigation; and extracting the navigation information in vehicle navigation by using the navigation information extraction module according to the navigation route.

[0007] In an implementation of the first aspect, obtaining real-time information of a vehicle by using a front camera and a radar includes: obtaining lane line information and curb information of a road ahead of the vehicle by using the front camera, and obtaining environmental information around the vehicle by using the radar; performing fusion processing on the lane line information, the curb information, and the environmental information by using a fusion perception module to obtain fusion information; and screening the fusion information by using a target screening module 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 a right lane line and a bifurcation point of the vehicle according to the current lane information; performing fitting processing on the right lane line and the bifurcation point to obtain an approach ramp guiding line; performing translation processing on the right lane line and the bifurcation point to obtain an in-ramp guiding line; and assisting the vehicle to obtain the lane change instruction according to the approach ramp guiding line and the in-ramp guiding line.

[0009] In an implementation of the first aspect, performing fitting processing on the right lane line and the bifurcation point to obtain an approach ramp guiding line includes: obtaining a projection point of the bifurcation point by using the bifurcation point and the right lane line; obtaining a central position by using the bifurcation point and the projection point of the bifurcation point; and performing fitting processing on the right lane line and the central position at the current position of the vehicle to obtain the approach ramp guiding line.

[0010] In an implementation of the first aspect, performing translation processing on the right lane line and the bifurcation point to obtain an in-ramp guiding line includes: obtaining a left lane line by using the right lane line and the bifurcation point; and obtaining the in-ramp guiding line according to the left lane line and the right lane line.

[0011] Second aspect, the present application provides a vehicle driving navigation system, which includes: a navigation information acquisition module, configured to extract navigation information in vehicle navigation by using a navigation information extraction module, where the navigation information includes foreground lane information and steering icon information; a live information acquisition module, configured to acquire live information of the vehicle by using a front camera and a radar, where the live information includes current lane information; a lane change operation module, configured to process the navigation information and the live information by using 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 acquired according to the foreground lane information. If not, a lane change instruction is acquired according to the steering icon information.

[0012] Third aspect, the present application provides a vehicle, which includes: a vehicle head unit, configured to provide navigation information for the vehicle according to a starting point and an ending point of a trip and send it to an intelligent driving control end and a vehicle controller; an intelligent driving control end, configured to acquire the navigation information of the vehicle head unit and execute the vehicle driving navigation method according to any one of the first aspect to acquire a vehicle control instruction; a vehicle controller, configured to receive the navigation information of the vehicle head unit and the instruction of the intelligent driving control end and execute the vehicle control instruction.

[0013] Fourth aspect, the present application provides an electronic device, which includes: a memory, configured to store a computer program; a processor, where the processor is configured to execute the computer program stored in the memory so that the electronic device executes the vehicle driving navigation method according to any one of the first aspect.

[0014] Fifth aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the vehicle driving navigation method according to any one of the first aspect is implemented. Description of the Drawings

[0015] Figure 1A It shows a schematic diagram of an application scenario of the vehicle driving navigation method described in the present application.

[0016] Figure 1B It shows a schematic diagram of the structure of the end-cloud interaction scenario in these implementation manners.

[0017] Figure 2 It shows a schematic flowchart of the vehicle driving navigation method described in an embodiment of the present application

[0018] Figure 3 It shows a schematic flowchart of the vehicle driving navigation method described in an embodiment of the present application.

[0019] Figure 4A It shows a schematic flowchart of the vehicle driving navigation method described in an embodiment of the present application.

[0020] Figure 4B It shows a schematic diagram of the vehicle described in the embodiment of the present application.

[0021] Figure 5 It shows a schematic flowchart of the vehicle driving navigation method described in the embodiment of the present application.

[0022] Figure 6 It shows a schematic flowchart of the vehicle driving navigation method described in the embodiment of the present application.

[0023] Figure 7A It shows a schematic flowchart of the vehicle driving navigation method described in the embodiment of the present application.

[0024] Figure 7B It shows a schematic diagram of changing lanes to the right described in the embodiment of the present application.

[0025] Figure 8 It shows a schematic structural diagram of the vehicle driving navigation system described in the embodiment of the present application.

[0026] Figure 9 It shows a schematic structural diagram of the vehicle described in the embodiment of the present application.

[0027] Figure 10 It shows a schematic structural diagram of the electronic device described in the embodiment of the present application.

[0028] Description of component numbers

[0029] 1 Vehicle driving navigation device

[0030] 11 Driving information acquisition device

[0031] 12 Local processor

[0032] 13 Display terminal

[0033] 2 Terminal-cloud interaction 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 Vehicle

[0041] 210 In-vehicle computer terminal

[0042] 220 Intelligent Driving Control Terminal

[0043] 230 Vehicle Controller

[0044] 300 Electronic Device

[0045] 310 Memory

[0046] 320 Processor

[0047] 330 Display

[0048] Steps S11 - S13

[0049] Steps S111 - S112

[0050] Steps S121 - S123

[0051] Steps S131 - S134

[0052] Steps S1321 - S1323

[0053] Steps S1331 - S1332 Specific Embodiment

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

[0055] It should be noted that the diagrams provided in the following embodiments only illustrate the basic concept of the present application in a schematic manner. Therefore, only the components related to the present application are shown in the diagrams, rather than being drawn according to the number, shape, and size of the components in actual implementation. The type, quantity, and ratio of each component in actual implementation can be arbitrarily changed, and the component layout type may also be more complex.

[0056] It should be noted that in the embodiments of the present application, words such as "optionally" or "for example" represent examples, illustrations, or explanations. Any embodiment or design solution described as "optionally" or "for example" in the present application should not be interpreted as being more preferred or having more advantages than other embodiments or design solutions. Exactly, using words such as "optionally" or "for example" aims to present relevant concepts in a specific manner.

[0057] With the continuous development of the electrification and intelligentization technologies of vehicles, the application of automatic auxiliary driving systems in vehicles is becoming increasingly widespread. High-performance auxiliary driving systems not only rely on high-precision positioning systems but also on high-precision maps. However, the generation cost of high-precision maps is very high, and the update frequency is very fast. This has made it increasingly difficult for high-order auxiliary driving technologies to be truly commercialized on a large scale. Therefore, in the context of the pursuit of "eliminating high-precision maps", concepts such as "mapless", "light high-precision map", "SD Pro map", and "HD Lite map" have emerged in an endless stream, bringing new challenges to both the current situation and the subsequent development of autonomous driving technologies.

[0058] At least for the above problems, an embodiment of the present application provides a vehicle driving navigation method. The vehicle driving navigation method includes: extracting navigation information in vehicle navigation using a navigation information extraction module, where the navigation information includes foreground lane information and steering icon information; obtaining live information of the vehicle using a front-view camera and a radar, where the live information includes current lane information; and using a navigation information processing module to process the navigation information and the live information 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 steering icon information.

[0059] In an embodiment of the present application, navigation information in vehicle navigation is extracted using a navigation information extraction module, live information of the vehicle is obtained using a front-view camera and a radar, and the navigation information and the live information are processed using a navigation information processing module to determine whether the current lane information and the foreground lane information match. If they match, a lane change instruction is obtained according to the foreground lane information. If they do not match, a lane change instruction is obtained according to the steering icon information. Such a 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 Shown is a schematic diagram of an application scenario of the vehicle driving navigation method described in the present application. The vehicle driving navigation device 1 can be used to implement the vehicle driving navigation method provided by an embodiment of the present application. However, the application scenario of the vehicle driving navigation method provided by an embodiment of the present application is not limited to Figure 1A the vehicle driving navigation device 1 shown. As Figure 1A 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 by an embodiment of the present application can be applied to the local processor 12.

[0061] Among them, Figure 1AThe local processor 12 therein can be a single local processor, a cluster of local processors, a cloud computing center, etc., and there are no specific limitations here. Although Figure 1A only one driving information acquisition device 11, one local processor 12, and one display terminal 13 are shown therein, it should be understood that Figure 1A the examples therein are only for understanding this solution, and the quantities of the local processor 12 and the display terminal 13 should be determined flexibly according to the actual situation.

[0062] In some other implementation manners, the vehicle driving navigation device 1 may also not include the display terminal 13, but only include the local processor 12 with a display function and the driving information acquisition device 11. The vehicle driving navigation method provided by the embodiments of this 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 personal digital assistant, a mobile phone, a personal computer (PC for short), and a voice interaction device, and may also be a monitoring device, a face recognition device, etc., and there are no limitations here.

[0063] In still some other implementation manners, the vehicle driving navigation method described in this application can be applied to an end-cloud interaction scenario. Figure 1B Shown is a schematic structural diagram of the end-cloud interaction scenario for these implementation manners. As Figure 1B shown, the end-cloud interaction system 2 includes a terminal 20 and a cloud server 21. Communication can be performed between the terminal 20 and the cloud server 21, and the communication method is not limited to wired or wireless methods.

[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 functions and can be deployed indoors, outdoors, and in industrial workshops. The terminal 20 can be an in-vehicle system, a mobile phone, a tablet computer, a laptop computer, etc., and there are no limitations here. The cloud server 21 can include one or more servers, or include one or more processing nodes, or include one or more virtual machines running on the server. The cloud server 21 can also be referred to as a server cluster, a management platform, a data processing center, etc., and there are no limitations in the embodiments of this application.

[0065] Next, the technical solutions in the embodiments of this application will be described in detail with reference to the accompanying drawings in the embodiments of this application.

[0066] The following embodiments of this application provide a vehicle driving navigation method, and this method can be implemented, for example, by Figure 1A the local processor 12 shown in Figure 1B or the cloud server 21 shown inFigure 2 It is a schematic flowchart showing the vehicle driving navigation method described in the embodiments of the present application. As Figure 2 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 vehicle navigation, where the navigation information includes foreground lane information and steering icon information. Optionally, the navigation information extraction module is used to obtain the navigation information of the in-vehicle unit and send it to the navigation information processing module.

[0068] Step S12, using a front camera and a radar to obtain the actual situation information of the vehicle, where the actual situation information includes current lane information. Optionally, the front camera and the radar are used to collect the actual situation information of the vehicle and send it to the navigation information processing module.

[0069] Step S13, using a navigation information processing module to process the navigation information and the actual situation information 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 steering icon information.

[0070] In some possible implementation manners, the navigation information extraction module is arranged on the in-vehicle unit, and the in-vehicle unit 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 the navigation information in vehicle navigation. The navigation information includes current lane information, steering icon information, and road speed limit information. Using a front camera and a radar to obtain the actual situation information of the vehicle, where the radar includes a front radar, a front corner radar, and a rear corner radar. The actual situation information includes current lane information, lane line information, and curb information. Using a navigation information processing module to process the navigation information and the actual situation 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 steering icon information, and the lane change instruction is used to control the vehicle to perform an automatic lane change operation.

[0071] In the embodiments of the present application, a navigation information extraction module is used to extract navigation information in vehicle navigation, a front view camera and a radar are used to obtain the real-time information of the vehicle, and a 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, a lane change instruction is obtained according to the foreground lane information. If they do not match, a lane change instruction is obtained according to the steering icon information. Such a vehicle driving navigation method can complete the automatic lane change operation of the vehicle and accurately navigate the vehicle when a high-precision map is missing.

[0072] Figure 3 Shown is a schematic flow chart of the vehicle driving navigation method described in the embodiments of the present application. As Figure 3 shown, the step S11 includes steps S111 to S112.

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

[0074] Step S112, use the navigation information extraction module to extract the navigation information in vehicle navigation according to the navigation route.

[0075] In some possible implementation manners, the vehicle-mounted terminal includes a navigation HMI and a navigation engine. After receiving the starting point and ending point instructions input by the user, the navigation HMI sends the information to the navigation engine. The navigation engine is used to navigate the route according to the starting point and ending point information and feedback 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 vehicle navigation according to the navigation route.

[0076] Figure 4A Shown is a schematic flow chart of the vehicle driving navigation method described in the embodiments of the present application. As Figure 4A shown, the step S12 includes steps S121 to S123.

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

[0078] Step S122, use the fusion perception module to perform fusion processing on the lane line information, the curb information and the environmental information to obtain fusion information.

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

[0080] In some possible implementation manners, Figure 4B Shown is a schematic diagram of the vehicle described in the embodiments of the present application. As 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 lane line information and the curb information of the road ahead of the vehicle are obtained by using the front view camera, and the environmental information around the vehicle is obtained by using each radar. The lane line information, the curb information, and the environmental information are fused by using a fusion perception module to obtain fusion information. The fusion perception module is used to receive the information of the front view camera and the radar and perform fusion processing. The fusion information is screened by using a target screening module to obtain the live information of the vehicle. The target screening module is used to obtain the information sent by the perception fusion module and perform screening processing.

[0081] Figure 5 Shown is a schematic flowchart of the vehicle driving navigation method according to an embodiment of the present application, as Figure 5 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 the bifurcation point of the vehicle according to the current lane information.

[0083] Step S132, performing fitting processing by using the right lane line and the bifurcation point to obtain an approach ramp guiding line.

[0084] Step S133, performing translation processing by using the right lane line and the bifurcation point to obtain a guiding line inside the ramp.

[0085] Step S134, assisting the vehicle to obtain a lane change instruction according to the approach ramp guiding line and the guiding line inside the ramp.

[0086] In some possible implementation manners, when the vehicle needs to change lanes to the right, the right lane line and the bifurcation point of the vehicle are obtained according to the current lane information. The bifurcation point is generally the center point of the road bifurcation. Fitting processing is performed by using the right lane line and the bifurcation point to obtain an approach ramp guiding line before the vehicle changes lanes. The right lane line is translated by using the right lane line and the bifurcation point to obtain a guiding line inside the ramp. The vehicle is assisted to obtain a lane change instruction according to the approach ramp guiding line and the guiding line inside the ramp to perform a vehicle lane change operation.

[0087] Figure 6 Shown is a schematic flowchart of the vehicle driving navigation method according to an embodiment of the present application, as Figure 6 shown, step S132 includes steps S1321 to S1323.

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

[0089] Step S1322: Obtain the central position by using the bifurcation point and the projection point of the bifurcation point.

[0090] Step S1323: Perform fitting processing at the current position of the vehicle by using the right lane line and the central position to obtain the approach ramp guiding line.

[0091] In some possible implementation manners, obtain the projection point of the bifurcation point by using the bifurcation point and the right lane line. Optionally, the projection point of the bifurcation point is the point where the bifurcation point is mapped on the right lane line. Obtain the central position by using the bifurcation point and the projection point of the bifurcation point. The central position is the position where the center point of the bifurcation point and the projection point of the bifurcation point is located. Perform fitting processing at the current position of the vehicle by using the right lane line and the central position to obtain the approach ramp guiding line.

[0092] Figure 7A Shown is a schematic flow chart of the vehicle driving navigation method described in the embodiments of the present application. As Figure 7A shown, step S133 includes steps S1331 to S1332.

[0093] Step S1331: Obtain the left lane line by using the right lane line and the bifurcation point.

[0094] Step S1332: Obtain the guiding line inside the ramp according to the left lane line and the right lane line.

[0095] In some possible implementation manners, Figure 7B Shown is a schematic diagram of changing lanes to the right described in the embodiments of the present application. As Figure 7B shown, when the vehicle needs to change lanes to the right when encountering a fork in the road during driving, obtain the right lane line L0 and the bifurcation point A of the vehicle according to the current lane information. Obtain the projection point A of the bifurcation point by using the bifurcation point A and the right lane line L0 r . Obtain the central position A by using the bifurcation point A and the projection point A of the bifurcation point r . Obtain the approach ramp guiding line L by performing fitting processing at the current position of the vehicle by using the right lane line L0 and the central position A c . Obtain the left lane line L0' by using the right lane line L0 and the bifurcation point A. Obtain the guiding line L inside the ramp according to the left lane line L0' and the right lane line L0 c '. Assist the vehicle to obtain a lane change instruction according to the approach ramp guiding line L c and the guiding line L inside the ramp c '. c and the guiding line L inside the ramp c ' assist the vehicle to obtain a lane change instruction.

[0096] Figure 8 Shown is a schematic structural diagram of the vehicle driving navigation system described in the embodiments of the present application. As Figure 8 shown, the vehicle driving navigation system 100 includes a navigation information acquisition module 110, a live information acquisition module 120, and a lane change operation module 130.

[0097] The navigation information acquisition module 110 is configured to extract navigation information in vehicle navigation by using a navigation information extraction module. The navigation information includes foreground lane information and steering icon information.

[0098] The live information acquisition module 120 is configured to acquire live information of the vehicle by using a front view camera and a radar. The live information includes current lane information.

[0099] The lane change operation module 130 is configured to process the navigation information and the live information by using 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 steering icon information.

[0100] In some possible implementation manners, the navigation information extraction module 110 is disposed on the in-vehicle unit. The in-vehicle unit includes a navigation HMI and a navigation engine. The navigation information extraction module 110 interacts with the navigation HMI and the navigation engine respectively to extract navigation information in vehicle navigation. The navigation information includes current lane information, steering icon information, and road speed limit information. The live information acquisition module 120 is configured to acquire live information of the vehicle by using a front view camera and a radar. The radar includes a front radar, a front corner radar, and a rear corner radar. The live information includes current lane information, lane line information, and road edge information. The lane change operation module 130 is configured to process the navigation information and the live information by 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 steering icon information. The lane change instruction is used to control the vehicle to perform an automatic lane change operation.

[0101] In the embodiments of the present application, the navigation information extraction module 110 is configured to extract navigation information in vehicle navigation by using the navigation information extraction module. The live information acquisition module 120 is configured to acquire live information of the vehicle by using a front view camera and a radar. The lane change operation module 130 is configured to process the navigation information and the live information by using the navigation information processing module, and determine whether the current lane information matches the foreground lane information. If they match, a lane change instruction is obtained according to the foreground lane information. If they do not match, a lane change instruction is obtained according to the steering icon information. Such a 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] Figure 9 Shown is a schematic structural diagram of the vehicle according to the embodiments of the present application, as Figure 9 shown, the vehicle 200 includes a vehicle head unit 210, an intelligent driving control unit 220, and a vehicle controller 230.

[0103] The vehicle head unit 210 is configured to provide navigation information for the vehicle according to the start and end points of the journey and send it to the intelligent driving control unit 220 and the vehicle controller 230.

[0104] The intelligent driving control unit 220 is configured to obtain the navigation information of the vehicle head unit 210 and execute the vehicle driving navigation method according to any one of claims 1 to 6 to obtain a vehicle control instruction.

[0105] The vehicle controller 230 is configured to receive the navigation information of the vehicle head unit 210 and the instruction of the intelligent driving control unit 220 and execute the vehicle control instruction.

[0106] In some possible implementations, the autonomous vehicle 200 includes a vehicle head unit 210, an intelligent driving control unit 220, and a vehicle controller 230. The vehicle head unit 210 includes a navigation HMI, a navigation engine, and a navigation information extraction module, and is configured to provide navigation information for the vehicle based on the start and end points of a trip and send it to the intelligent driving control unit 220 and the vehicle controller 230. The intelligent driving control unit 220 includes a perception fusion module, a target screening module, a decision-making module, a planning module, a control module, and a navigation information processing module. The perception fusion module is configured to obtain the information collected by the front camera and the radar and perform fusion processing to obtain fusion information. The target screening module is configured to screen the fusion information to obtain the real-time information of the vehicle. The navigation information processing module is configured to process the navigation information of the vehicle and the information of the front camera and the radar to obtain the information of the vehicle entering and exiting the ramp and the lane change time. The decision-making module is configured to perform analysis and processing based on the real-time information, the information of the vehicle entering and exiting the ramp, and the lane change time to generate a lane change command, a cruise command, or a takeover command. The planning module is configured to obtain the lane change command, the cruise command, or the takeover command, generate a lateral control guiding line and a longitudinal speed control curve, and send them to the control module. The control module is configured to interact with the vehicle controller 230 and send control information such as throttle, brake, and steering angle to the vehicle controller 230. The vehicle controller 230 is configured to interact with the vehicle head unit 210 and the intelligent driving control unit 220. The vehicle head unit 210 obtains the vehicle state from the vehicle controller 230, and the vehicle controller 230 obtains the vehicle head unit control information from the vehicle head unit 210. The intelligent driving control unit 220 obtains the vehicle speed or preset information from the vehicle controller 230, and the vehicle controller 230 obtains the throttle, brake, and / or steering angle control commands from the intelligent driving control unit 220.

[0107] In several embodiments provided in the present application, it should be understood that the disclosed system, apparatus, or method can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of modules / units is only a logical function division, and there may be other division methods in actual implementation. For example, 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 displayed or discussed mutual coupling or direct coupling or communication connection can be through some interfaces, and the indirect coupling or communication connection of devices or modules or units can be in electrical, mechanical, or other forms.

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

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

[0110] The embodiments of the present application also provide an electronic device. Figure 10 The structural schematic diagram of the electronic device 300 described in the embodiments of the present application is shown. As Figure 3 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 various media that can store program codes, such as ROM, RAM, magnetic disks, USB flash drives, memory cards, or optical discs.

[0112] Specifically, the memory 310 may include a computer system readable medium in the form of volatile memory, such as random access memory (RAM) and / or 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, and this program product has a set (for example, at least one) of program modules, and these program modules are configured to execute the functions of the embodiments of the present application.

[0113] The processor 320 is connected to the memory 310 and is used to execute the computer programs 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 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may 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 configured to display a relevant graphical user interface (GUI) interaction interface of the vehicle driving navigation method described in the embodiments of the present application.

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

[0117] The descriptions of the processes or structures corresponding to the above respective drawings each have their own emphases. For parts not detailed in a certain process or structure, reference may be made to the relevant descriptions of other processes or structures.

[0118] The above embodiments are only illustrative of the principles and effects of the present application, and are not intended to limit the present application. Any person familiar with this technology may make modifications or changes to the above embodiments without departing from the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field to which the present application pertains without departing from the spirit and technical ideas disclosed by 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; the lane change instruction is used to control the vehicle to perform an automatic lane change operation; One implementation of obtaining the lane change instruction is: When the vehicle needs to change lanes to the right, obtaining the lane change instruction includes: obtaining the right lane line and the bifurcation point of the vehicle according to the current lane information; performing fitting processing using the right lane line and the bifurcation point to obtain the gate entry guide line; performing translation processing using the right lane line and the bifurcation point to obtain the gate entry guide line; assisting the vehicle in obtaining the lane change instruction according to the gate entry guide line and the gate entry guide line; The obtaining of the gate entry guide line comprises: obtaining the projection point of the bifurcation point by using the bifurcation point and the right lane line; obtaining the center position by using the bifurcation point and the projection point of the bifurcation point; performing fitting processing at the current position of the vehicle by using the right lane line and the center position to obtain the gate entry guide line; The obtaining of the guide line in the gate includes: obtaining the left lane line by using the right lane line and the bifurcation point; and obtaining the guide line in the gate according to the left lane line and the right lane line.

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. 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; a lane-changing operation module, configured 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, and if so, to obtain a lane-changing instruction according to the foreground lane information; if not, to obtain a lane-changing instruction according to the turn icon information; the lane-changing instruction is used to control the vehicle to perform an automatic lane-changing operation; The lane-changing operation module is also used for: when the vehicle needs to change lanes to the right, obtaining the lane-changing instruction includes: obtaining the right lane line and the bifurcation point of the vehicle according to the current lane information; performing fitting processing using the right lane line and the bifurcation point to obtain the gate-entry guide line; performing translation processing using the right lane line and the bifurcation point to obtain the gate-entry guide line; assisting the vehicle in obtaining the lane-changing instruction according to the gate-entry guide line and the gate-entry guide line: The lane-changing operation module is further used to: obtain a projection point of the bifurcation point using the bifurcation point and the right lane line; obtain a center position using the bifurcation point and the projection point of the bifurcation point; and perform 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; The lane-changing operation module is further used for: obtaining a left lane line by using the right lane line and the bifurcation point; and obtaining the guide line within the gate according to the left lane line and the right lane line.

5. 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 3 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.

6. 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 3.

7. 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 3 is implemented.

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