Navigation path matching method and device, vehicle control unit and storage medium
By determining the intersection correspondence between the first map and the second map, matching the navigation path to the high-precision map, the problem of low navigation efficiency during high-precision navigation is solved, and more efficient navigation path matching is achieved.
Patent Information
- Application Number
- CN202310728790.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-06-19
- Publication Date
- 2024-12-20
AI Technical Summary
The navigation efficiency is low during high-precision navigation in the prior art, mainly due to the difficulty and cost of building high-precision maps, which leads to low road coverage and poor navigation paths generated.
By determining the intersection correspondence relationship between the first intersection in the first map and the second intersection in the second map, based on this relationship, the navigation path is matched to the second map, and the target navigation map is obtained, thereby improving navigation efficiency.
Through the intersection correspondence between the lower-precision first map and the higher-precision second map, match the navigation path to the second map to obtain a higher-precision target navigation map, improving the navigation efficiency during high-precision map navigation .
Smart Images
Figure CN119164412A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the field of navigation technology, and in particular to a navigation path matching method, device, vehicle controller and readable storage medium. Background Art
[0002] In order to provide users with more accurate navigation maps and meet the growing demand for autonomous driving, the application of high-precision maps has become more and more widespread. Compared with low-precision maps, high-precision maps can not only show basic information such as road shape and connection relationships, but also have more dimensional information such as road width and lane data and higher-precision information.
[0003] In the related technology, in order to obtain a high-precision navigation map to provide lane-level navigation services to users or support the vehicle's autonomous driving function, a navigation path corresponding to the high-precision map is usually generated based on the high-precision map, and the navigation path corresponding to the high-precision map is matched to the high-precision map to obtain a high-precision navigation map.
[0004] However, due to the difficulty and high cost of building high-precision maps, the road coverage of high-precision maps is lower than that of traditional low-precision maps. The navigation path generated by the methods in the above-mentioned related technologies is often not the optimal path, resulting in low navigation efficiency when performing high-precision navigation. Summary of the invention
[0005] In view of this, the present invention aims to propose a navigation path matching method, device, vehicle controller and readable storage medium to solve the problem of low navigation efficiency when performing high-precision navigation in the prior art.
[0006] To achieve the above object, the technical solution of the present invention is achieved as follows:
[0007] In a first aspect, the present invention provides a navigation path matching method, the method comprising:
[0008] Determining an intersection correspondence relationship between a first intersection in a first map and a second intersection in a second map; wherein the accuracy of the second map is greater than the accuracy of the first map;
[0009] Determining a first intersection to be turned to from a first intersection on the first map based on the navigation path corresponding to the first map;
[0010] When it is determined based on the intersection correspondence that there is a corresponding second intersection for the first intersection to be turned to, the navigation path is matched to the second map to obtain a target navigation map.
[0011] Optionally, determining an intersection correspondence relationship between a first intersection in the first map and a second intersection in the second map includes:
[0012] Acquire first intersection information of a first intersection within a preset distance in the vehicle's driving direction in the first map;
[0013] Acquire second intersection information of a second intersection within a preset distance in the vehicle's driving direction in the second map;
[0014] Based on the first intersection information and the second intersection information, an intersection correspondence relationship between the first intersection and the second intersection is determined.
[0015] Optionally, the first intersection information includes at least one of intersection type information of the first intersection, intersection angle information of the first intersection, and distance information between the first intersection and the vehicle.
[0016] Optionally, determining the intersection correspondence relationship between the first intersection and the second intersection based on the first intersection information and the second intersection information includes:
[0017] Determine the intersection consistency corresponding to the intersection combination based on first intersection information of a first intersection included in the intersection combination and second intersection information of a second intersection included in the intersection combination; wherein the intersection combination is composed of any first intersection and any second intersection;
[0018] The intersection combination whose intersection consistency meets the preset consistency condition is determined as the target intersection combination, and a corresponding relationship between the first intersection and the second intersection in the target intersection combination is established.
[0019] Optionally, the method further comprises:
[0020] According to a preset time interval, based on the latest first intersection information and the latest second intersection information, matching the first intersection and the second intersection in the target intersection combination to obtain a matching result;
[0021] When the number of successes of the matching result meets a preset verification condition, a corresponding relationship between the first intersection and the second intersection in the target intersection combination is established.
[0022] Optionally, the intersection consistency includes at least one of an intersection type ratio, an intersection distance difference, and an intersection angle difference.
[0023] Optionally, the method further comprises:
[0024] When it is determined based on the intersection correspondence that there is a corresponding second intersection at the first intersection to be turned to, autonomous driving is performed based on the target navigation map, and / or the target navigation map is displayed;
[0025] When it is determined based on the intersection correspondence that there is no corresponding second intersection for the first intersection to be turned to, the automatic driving state is exited, and / or a first navigation map obtained by matching the navigation path to the first map is displayed.
[0026] In a second aspect, the present invention provides a navigation path matching device, the device comprising:
[0027] An intersection matching module, used to determine an intersection correspondence between a first intersection in a first map and a second intersection in a second map; wherein the accuracy of the second map is greater than the accuracy of the first map;
[0028] A waiting intersection module, configured to determine a waiting first intersection from a first intersection on the first map based on a navigation path corresponding to the first map;
[0029] The navigation map module is used to match the navigation path to the second map to obtain a target navigation map when it is determined based on the intersection correspondence that there is a corresponding second intersection at the first intersection to be turned.
[0030] Optionally, the intersection matching module includes:
[0031] A first intersection information submodule, used to obtain first intersection information of a first intersection within a preset distance in the vehicle's driving direction in the first map;
[0032] A second intersection information submodule, used to obtain second intersection information of a second intersection within a preset distance in the vehicle's driving direction in the second map;
[0033] The intersection matching submodule is used to determine the intersection correspondence relationship between the first intersection and the second intersection based on the first intersection information and the second intersection information.
[0034] Optionally, the first intersection information includes at least one of intersection type information of the first intersection, intersection angle information of the first intersection, and distance information between the first intersection and the vehicle.
[0035] Optionally, the intersection matching submodule includes:
[0036] An intersection consistency submodule, used to determine the intersection consistency corresponding to the intersection combination based on first intersection information of a first intersection included in the intersection combination and second intersection information of a second intersection included in the intersection combination; wherein the intersection combination is composed of any first intersection and any second intersection;
[0037] The target intersection combination submodule is used to determine the intersection combination whose intersection consistency meets the preset consistency condition as the target intersection combination, and establish a corresponding relationship between the first intersection and the second intersection in the target intersection combination.
[0038] Optionally, the device further comprises:
[0039] A matching result module, configured to match the first intersection and the second intersection in the target intersection combination based on the latest first intersection information and the latest second intersection information at a preset time interval to obtain a matching result;
[0040] The corresponding relationship submodule is used to establish a corresponding relationship between the first intersection and the second intersection in the target intersection combination when the number of successes of the matching result meets a preset verification condition.
[0041] Optionally, the intersection consistency includes at least one of an intersection type ratio, an intersection distance difference, and an intersection angle difference.
[0042] Optionally, the device further comprises:
[0043] A target navigation map module, for performing automatic driving based on the target navigation map, and / or displaying the target navigation map, when it is determined based on the intersection correspondence relationship that there is a corresponding second intersection at the first intersection to be turned to;
[0044] The first navigation map module is used to exit the automatic driving state when it is determined that there is no corresponding second intersection for the first intersection to be turned to based on the intersection correspondence relationship, and / or to display the first navigation map obtained by matching the navigation path to the first map.
[0045] In a third aspect, the present invention provides a vehicle controller, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned navigation path matching method when executing the computer program.
[0046] In a fourth aspect, the present invention provides a readable storage medium, when the instructions in the readable storage medium are executed by a processor of a vehicle controller, the vehicle controller is enabled to execute the above-mentioned navigation path matching method.
[0047] In a fifth aspect, the present invention provides a vehicle, comprising the above-mentioned vehicle controller.
[0048] Compared with the prior art, the navigation path matching method, device, vehicle controller and readable storage medium described in the present invention have the following advantages:
[0049] In summary, an embodiment of the present invention provides a navigation path matching method, including: determining an intersection correspondence between a first intersection in a first map and a second intersection in a second map; wherein the accuracy of the second map is greater than the accuracy of the first map; determining a first intersection to be turned from the first intersection in the first map based on the navigation path corresponding to the first map; and matching the navigation path to the second map to obtain a target navigation map when it is determined that there is a corresponding second intersection at the first intersection to be turned based on the intersection correspondence. In an embodiment of the present invention, according to the intersection correspondence between a first map with lower accuracy and a second map with higher accuracy, when the intersection to be turned exists in the second map, the navigation path generated based on the first map can be matched to the second map to obtain a target navigation map with higher accuracy. The better navigation path obtained based on the first map can be matched with the second map with higher accuracy to obtain a target navigation map with higher accuracy, which helps to improve navigation efficiency when navigating based on high-precision maps. BRIEF DESCRIPTION OF THE DRAWINGS
[0050] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:
[0051] Figure 1 A flowchart of a navigation path matching method provided by an embodiment of the present invention;
[0052] Figure 2 A partial schematic diagram of a first map provided by an embodiment of the present invention;
[0053] Figure 3 A partial schematic diagram of a second map provided by an embodiment of the present invention;
[0054] Figure 4 A schematic diagram of a first intersection to be turned provided by an embodiment of the present invention;
[0055] Figure 5 A schematic diagram of a target navigation map provided by an embodiment of the present invention;
[0056] Figure 6 A flowchart of another navigation path matching method provided by an embodiment of the present invention;
[0057] Figure 7 A schematic diagram of a first road network structure provided by an embodiment of the present invention;
[0058] Figure 8 A schematic diagram of a second road network structure provided by an embodiment of the present invention;
[0059] Fig. 9A structural block diagram of a navigation path matching device provided by an embodiment of the present invention. DETAILED DESCRIPTION
[0060] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.
[0061] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.
[0062] Reference Figure 1 , showing a flowchart of the steps of a navigation path matching method provided by an embodiment of the present invention.
[0063] Step 101, determining an intersection correspondence relationship between a first intersection in a first map and a second intersection in a second map; wherein the accuracy of the second map is greater than the accuracy of the first map.
[0064] In an embodiment of the present invention, the accuracy of the second map is greater than that of the first map. For example, when the first map is a map of ordinary precision, the second map may be a high-precision map (HD map). A high-precision map is a map with high precision that can be used for autonomous driving. The map accuracy can be accurate to the centimeter level to ensure that functions such as autonomous driving and assisted driving can operate accurately based on high-precision maps.
[0065] Since it is difficult and costly to generate a map with higher accuracy, the road coverage and update frequency of the first map with lower accuracy are usually higher than those of the second map with higher accuracy. The first map usually has more complete road data than the second map.
[0066] In an embodiment of the present invention, a corresponding navigation path may be generated based on the first map, wherein the navigation path is used to navigate the vehicle from the current location to the target location. For example, a user may input a destination in the navigation system, and the destination input by the user is used as the target location, and a navigation path from the current location to the target location is generated based on the first map.
[0067] The user can refer to the above navigation path and manually drive the vehicle along the navigation path, or start the vehicle's automatic driving function to make the vehicle autonomously drive along the navigation path. In order to enable the vehicle's automatic driving function to run smoothly, the above navigation path can be matched to the second map so that the automatic driving function can automatically drive the vehicle along the navigation path based on the second map with higher accuracy.
[0068] Due to the different accuracy of the first map and the second map, there may be differences in road coverage and update frequency between the first map and the second map, resulting in the first map may contain some roads that do not exist in the second map, and the navigation path generated based on the first map may contain roads to be entered that do not exist in the second map. Therefore, the navigation path generated based on the first map cannot be directly applied to the second map.
[0069] In an embodiment of the present invention, before matching the navigation path to the second map, the first intersection in the first map and the second intersection in the second map can be matched to determine the intersection correspondence between the two to determine whether the roads included in the two are consistent, thereby determining whether the navigation path can be matched to the second map.
[0070] In one implementation, the vehicle or service end may pre-match all intersections in the first map and the second map, establish a complete intersection correspondence relationship between the first intersection in the first map and the second intersection in the second map, and store the intersection correspondence relationship. When the automatic driving function needs to be started, the above intersection correspondence relationship is read.
[0071] In another embodiment, since both the first map and the second map contain a large amount of intersection information, and the road networks in the first map and the second map are frequently updated according to road repair and construction conditions, in order to improve the accuracy of the intersection correspondence, the first intersection in the first map and the second intersection in the second map can be matched in real time to determine the intersection correspondence between the two.
[0072] Furthermore, since the first map and the second map contain a large number of intersections, but the vehicle's driving speed is limited, in order to reduce the resource consumption required for matching intersections (including computing power consumption, memory consumption, etc.), only the first intersections and second intersections within a preset distance or a preset number around the vehicle's current position in the first map and the second map can be matched to obtain the intersection correspondence between these intersections.
[0073] It should be noted that since the road networks in the first map and the second map may not be consistent, the intersections in the first map and the second map may not be in a one-to-one correspondence, and a first intersection in the first map may not have a corresponding second intersection in the second map.
[0074] Reference Figure 2 and Figure 3 , Figure 2 A partial schematic diagram of a first map provided by an embodiment of the present invention is shown. Figure 3 FIG. 4 shows a partial schematic diagram of a second map provided by an embodiment of the present invention, such as Figure 2 As shown, it includes the first intersection A1, the first intersection A2 and the first intersection A3; Figure 3 As shown, it includes the second intersection B2 and the second intersection B2; in the intersection correspondence relationship, the first intersection A1 corresponds to the second intersection B1, the first intersection A3 corresponds to the second intersection B2, and the first intersection A2 has no corresponding second intersection.
[0075] Step 102: determining a first intersection to be turned to from first intersections in the first map based on the navigation path corresponding to the first map.
[0076] In the embodiment of the present invention, the first intersection to be turned to refers to the first intersection to be entered as indicated by the navigation path in the first map. The first intersection to be turned to may only refer to a preset number of intersections (e.g., 1), for example, the first intersection to be entered that is closest to the vehicle may be determined as the first intersection to be turned to; or it may refer to all first intersections to be entered as indicated by the navigation path.
[0077] Reference Figure 4 , Figure 4 A schematic diagram of a first intersection to be turned provided by an embodiment of the present invention is shown, Figure 4 As shown, the thin solid line part and the thick solid line part together constitute part of the first map, wherein the thick solid line part is the driving route indicated by the navigation path in the first map, and the vehicle 41 is about to enter the first intersection 42, then the first intersection 42 can be determined as the first intersection to be turned.
[0078] Step 103: When it is determined based on the intersection correspondence that there is a corresponding second intersection at the first intersection to be turned to, the navigation path is matched to the second map to obtain a target navigation map.
[0079] After determining the first intersection to be turned to, the corresponding second intersection can be matched in the above-mentioned intersection correspondence. If the corresponding second intersection can be matched, it means that the driving road indicated by the navigation path exists in the second map, and automatic driving can continue based on the second map and the navigation path.
[0080] Specifically, when it is determined based on the intersection correspondence that there is a corresponding second intersection at the first intersection to be turned, the navigation path can be matched to the second map to obtain a target navigation map. The target navigation map is a navigation map obtained after the second map is matched with the navigation path, and includes the road network information in the second map and the driving road information indicated by the navigation path.
[0081] Reference Figure 5 , Figure 5 A schematic diagram of a target navigation map provided by an embodiment of the present invention is shown. Figure 5 As shown, after matching the navigation path to the second map 51, a high-precision target navigation map including driving road indication information can be obtained, wherein the driving road indication information can be entered into the Figure 5 As shown by arrow 52.
[0082] It should be noted that, when there are multiple first intersections to be turned to, the navigation path can be matched to the second map to obtain the target navigation map after determining that all the first intersections to be turned to have corresponding second intersections.
[0083] After obtaining the target navigation map, you can perform or continue autonomous driving based on the target navigation map, use the map data provided by the high-precision second map and the driving route provided by the navigation path to perform autonomous driving, and drive into the route indicated by the navigation path through autonomous driving.
[0084] In addition to being used for autonomous driving, the target navigation map can also be output to the user so that the user can autonomously drive the vehicle according to the target navigation map. Thus, after the optimal navigation path is generated based on the first map with lower accuracy, when the second map has a driving route indicated by the navigation path, the second map with higher accuracy and the navigation path are combined to output a target navigation map with higher accuracy, which can provide lane-level navigation information to the user or the autonomous driving system while maintaining the optimal navigation path.
[0085] In summary, an embodiment of the present invention provides a navigation path matching method, including: determining an intersection correspondence between a first intersection in a first map and a second intersection in a second map; wherein the accuracy of the second map is greater than the accuracy of the first map; determining a first intersection to be turned from the first intersection in the first map based on the navigation path corresponding to the first map; and matching the navigation path to the second map to obtain a target navigation map when it is determined that there is a corresponding second intersection at the first intersection to be turned based on the intersection correspondence. In an embodiment of the present invention, according to the intersection correspondence between a first map with lower accuracy and a second map with higher accuracy, when the intersection to be turned exists in the second map, the navigation path generated based on the first map can be matched to the second map to obtain a target navigation map with higher accuracy. The better navigation path obtained based on the first map can be matched with the second map with higher accuracy to obtain a target navigation map with higher accuracy, which helps to improve navigation efficiency when navigating based on high-precision maps.
[0086] Reference Figure 6 , Figure 6 A flowchart of another navigation path matching method provided by an embodiment of the present invention is shown.
[0087] Step 201, obtaining first intersection information of a first intersection within a preset distance in the vehicle driving direction in the first map.
[0088] In the embodiment of the present invention, first intersection information of a first intersection within a preset distance in the driving direction of the vehicle may be acquired from the first map based on the current position of the vehicle.
[0089] Specifically, the positioning information of the vehicle can be obtained, the current position of the vehicle can be determined based on the positioning information of the vehicle, and the direction of travel of the vehicle can be determined based on sensors such as an electronic compass. Based on the current position of the vehicle and the direction of travel of the vehicle, the current position of the vehicle and the direction of travel of the vehicle can be projected into the first map, thereby obtaining the first intersection information of the first intersection on both sides of the road within a preset distance (e.g., 2 km) in the direction of travel of the vehicle in the first map. Among them, the first intersection information may include but is not limited to the first intersection type information of the first intersection, the first intersection angle information of the first intersection, and the first intersection information including at least one of the first distance information between the first intersection and the vehicle. By including intersection information of multiple information types, the intersection can be accurately portrayed, thereby improving the accuracy of subsequent intersection matching.
[0090] The above-mentioned intersection type information can be used to indicate the type of the two roads connected by the intersection. For example, the intersection type information may include but is not limited to the main road-ramp type, the main road-main road type, the ramp-main road type, the ramp-ramp type, etc.; the above-mentioned intersection angle information can be used to indicate the angle between the two roads connected by the intersection, that is, the angle between the road on which the vehicle is traveling and the branch road connected to the intersection.
[0091] It should be noted that since the first map is essentially recorded through map data and not stored in the form of an image, before determining the above-mentioned first intersection information, the first map data within a preset distance in the vehicle's driving direction is extracted from the first map, and then the extracted first map data is reconstructed to obtain the first road network structure, and the first intersection information is extracted from the first road network structure.
[0092] Reference Figure 7 , Figure 7 A schematic diagram of a first road network structure provided by an embodiment of the present invention is shown. Figure 7As shown, the driving direction of vehicle 71 is direction a, the preset distance is 2km, and there are three first intersections on both sides of the road within 2km in the driving direction of vehicle 71: first intersection 72, first intersection 73 and first intersection 74; then the first intersection information of the above three first intersections is obtained; if the road on which vehicle 71 is traveling is a main road, the branch road connected by the first intersection 72 and the first intersection 73 is a ramp, and the branch road connected by the first intersection 74 is a main road, then the first intersection type information of the first intersection 72 can be main road-ramp, the first intersection type information of the first intersection 73 can be main road-ramp, and the first intersection type information of the first intersection 74 can be main road-main road; the first intersection angle information of the first intersection 72, the first intersection 73 and the first intersection 74 are α1, β1 and γ1 respectively; the first distance information of the first intersection 72, the first intersection 73 and the first intersection 74 are h1, h2 and h3 respectively.
[0093] Step 202, obtaining second intersection information of a second intersection within a preset distance in the vehicle's driving direction in the second map.
[0094] In the embodiment of the present invention, the second intersection information of the second intersection within a preset distance in the driving direction of the vehicle can be obtained from the second map based on the current position of the vehicle.
[0095] Specifically, the positioning information of the vehicle can be obtained, the current position of the vehicle can be determined based on the positioning information of the vehicle, and the driving direction of the vehicle can be determined based on sensors such as an electronic compass. Based on the current position of the vehicle and the driving direction of the vehicle, the current position of the vehicle and the driving direction of the vehicle can be projected into the second map, thereby obtaining the second intersection information of the second intersection on both sides of the road within a preset distance (e.g., 2 km) in the driving direction of the vehicle in the second map. The second intersection information may include, but is not limited to, at least one of the second intersection type information of the second intersection, the second intersection angle information of the second intersection, and the second intersection information including the second distance information between the second intersection and the vehicle.
[0096] It should be noted that since the second map is essentially recorded through map data and not stored in the form of an image, before determining the above-mentioned second intersection information, the second map data within a preset distance in the vehicle's driving direction is extracted from the second map, and then the extracted second map data is reconstructed to obtain the second road network structure, and the second intersection information is extracted from the second road network structure.
[0097] Reference Figure 8 , Figure 8 A schematic diagram of a second road network structure provided by an embodiment of the present invention is shown. Figure 8As shown, the driving direction of the vehicle 81 is direction a, the preset distance is 2km, and there are two second intersections on both sides of the road within 2km in the driving direction of the vehicle 81: the first intersection 82 and the second intersection 83; then the second intersection information of the above two second intersections is obtained; if the road on which the vehicle 81 is traveling is a main road, the branch road connected to the second intersection 82 is a ramp, and the branch road connected to the second intersection 83 is the main road, then the second intersection type information of the second intersection 82 can be main road-ramp, and the second intersection type information of the second intersection 83 can be main road-main road; the second intersection angle information of the second intersection 82 and the second intersection 83 are α2 and β2 respectively; the second distance information of the second intersection 82 and the second intersection 83 are H1 and H2 respectively.
[0098] It should be noted that, due to the high accuracy of the second map, the lanes in the second map are not simple lines, but have a certain width, so as to reflect the actual road width. Therefore, the above-mentioned second intersection angle information can be calculated by the road center lines of the two roads connected by the second intersection in the second map. Specifically, the second intersection angle information can be calculated using the following formula 1:
[0099]
[0100] Where β represents the angle of the second intersection, Δx represents the length of the right-angled side located at the edge of the main road in the right-angled triangle formed by the tangent line of the branch road centerline at the midpoint of the intersection and the edge of the main road, and Δy represents the length of the other right-angled side of the above right-angled triangle. Figure 8 As shown, the tangent line 86 of the branch road centerline 84 of the second intersection 82 at the intersection midpoint 85 and the main road edge 87 can form a right triangle 88, and the lengths of the two right-angled sides of the right triangle 88 are m and n respectively; then the second intersection angle of the second intersection 82 is
[0101] By obtaining intersection information within a preset distance of the vehicle's travel direction, the number of intersections that need to be matched each time can be reduced, thereby reducing resource consumption and improving the efficiency of intersection matching.
[0102] Step 203: Determine an intersection correspondence relationship between the first intersection and the second intersection based on the first intersection information and the second intersection information.
[0103] After obtaining the first intersection information of the first intersection within the same range and the second intersection information of the second intersection, the first intersection information and the second intersection information can be compared one by one, so as to determine the first intersection and the second intersection corresponding to the identical or highly similar first intersection information and the second intersection information as the corresponding first intersection and the second intersection.
[0104] Optionally, step 203 may include:
[0105] Sub-step 2031, based on first intersection information of a first intersection included in the intersection combination and second intersection information of a second intersection included in the intersection combination, determining intersection consistency corresponding to the intersection combination; wherein the intersection combination is composed of any first intersection and any second intersection.
[0106] In the embodiment of the present invention, any first intersection and any second intersection are combined to obtain an intersection combination. For example, when the first intersection includes a, b and c, and the second intersection includes d and e, the intersection combination may include ad, ae, bd, be, cd, and ce.
[0107] For each intersection combination, the corresponding intersection consistency can be calculated. Specifically, the first intersection information of the first intersection corresponding to the intersection combination and the second intersection information of the second intersection can be compared, and the intersection consistency of the intersection combination can be determined based on indicators such as similarity and difference between the first intersection information and the second intersection information.
[0108] Optionally, in the embodiment of the present invention, the intersection consistency may include at least one of an intersection type ratio, an intersection distance difference, and an intersection angle difference.
[0109] The intersection type ratio indicates whether the first intersection type is the same as the second intersection type. When the intersection type ratio is 1, it indicates that the corresponding first intersection type is the same as the second intersection type. When the intersection type ratio is not 1, it indicates that the corresponding first intersection type is not the same as the second intersection type. The intersection type ratio can be determined based on the following formula 2:
[0110] unif ij =type i / type j Formula 2
[0111] Among them, unif ij Indicates the intersection type ratio of the intersection combination composed of the first intersection i and the second intersection j, type i Indicates the intersection type of the first intersection i, type j represents the intersection type of the second intersection j. It should be noted that different intersection types can be represented by different state values, so that the ratio of the same intersection type can be 1.
[0112] The intersection distance difference indicates the difference between the first intersection distance and the second intersection distance. The smaller the intersection distance difference is, the higher the consistency between the corresponding first intersection and the second intersection is. The intersection distance difference can be determined based on the following formula 3:
[0113] Δdis ij= abs(dis i -dis j ) Formula 3
[0114] Among them, Δdis ij represents the intersection distance difference between the first intersection i and the second intersection j, dis i represents the intersection distance of the first intersection i, dis j represents the intersection distance of the second intersection j, and abs represents the absolute value.
[0115] The intersection angle difference represents the difference between the first intersection angle and the second intersection angle. The smaller the intersection angle difference is, the higher the consistency between the corresponding first intersection and the second intersection is. The intersection angle difference can be determined based on the following formula 4:
[0116] match ij =|tanα i -tanβ j |*a Formula 4
[0117] Among them, match ij represents the intersection angle difference between the first intersection i and the second intersection j, α i represents the intersection angle of the first intersection i, β j represents the intersection angle of the second intersection j, and a represents the conversion coefficient (for example, the conversion coefficient may be 15).
[0118] Sub-step 2032: determining the intersection combination whose intersection consistency meets the preset consistency condition as the target intersection combination, and establishing a corresponding relationship between the first intersection and the second intersection in the target intersection combination.
[0119] The intersection consistency corresponding to each intersection combination can be determined, and the intersection consistency is matched with the consistency condition to determine the intersection combination whose intersection consistency meets the consistency condition.
[0120] In an embodiment of the present invention, the consistency condition may include multiple sub-conditions corresponding to different types of consistency. For example, when the intersection consistency includes the intersection type ratio, the consistency condition may include the intersection type ratio sub-condition; when the intersection consistency includes the intersection type ratio, the intersection distance difference and the intersection angle difference, the consistency condition may include the intersection type ratio sub-condition, the intersection distance difference sub-condition and the intersection angle difference sub-condition.
[0121] Specifically, the intersection type ratio sub-condition may include an intersection type ratio equal to 1; the intersection distance difference sub-condition may include an intersection distance difference less than or equal to a preset distance threshold (e.g., 2 meters); the intersection angle difference sub-condition may include an intersection angle difference less than or equal to a preset angle threshold (e.g., 5 degrees).
[0122] The intersection consistency satisfies the consistency condition by either each item in the intersection consistency satisfying the corresponding sub-condition in the consistency condition or one or more items in the intersection consistency satisfying the corresponding sub-condition in the consistency condition, which is not specifically limited in the embodiment of the present invention.
[0123] Furthermore, in order to improve the processing efficiency of intersection matching and avoid wasting computing resources, the intersection type ratio can be judged first. If the intersection type ratio of a certain intersection combination does not meet the intersection type ratio sub-condition, it means that the first intersection and the second intersection in the intersection combination are of different types and cannot belong to the same intersection in the real world. It can be directly determined that there is no corresponding relationship between the first intersection and the second intersection in the intersection combination, thereby omitting subsequent judgment items and reducing the resource consumption of the judgment process.
[0124] Optionally, sub-step 2032 may include:
[0125] Sub-step A1, matching the first intersection and the second intersection in the target intersection combination based on the latest first intersection information and the latest second intersection information at a preset time interval to obtain a matching result.
[0126] In an embodiment of the present invention, after determining the intersection combination whose intersection consistency meets the preset consistency condition, the result can also be verified. After the verification is passed, the correspondence between the first intersection and the second intersection in the target intersection combination is established, thereby improving the accuracy of the intersection correspondence.
[0127] Specifically, since the vehicle is continuously traveling on the road, the position at which it is located changes at every moment. Therefore, the first intersection information around the vehicle can be continuously obtained from the first map at a preset time interval (e.g., 50 milliseconds), and the second intersection information around the vehicle can be obtained from the second map. After each acquisition of the latest first intersection information and second intersection information, the latest first intersection information and second intersection information are matched by the steps in the above embodiment. Among them, the first intersection and the second intersection in the target intersection combination will also be matched, and each matching will generate a matching result of the target intersection combination. Through these continuously generated matching results of the target intersection combination, the target intersection combination can be verified. It should be noted that the above matching results are used to characterize the intersection consistency of the target intersection combination determined based on the latest acquired first intersection information and second intersection information, and whether it meets the preset consistency condition. The above matching results can be specifically successful or unsuccessful.
[0128] For example, assuming that the preset time interval is 100 milliseconds, at the 0th second, the first intersection and the second intersection in an intersection combination are successfully matched for the first time, and the intersection combination is determined as the target intersection combination; at the 0.1th second, based on the first intersection information and the second intersection information most recently acquired at this time, the first intersection and the second intersection in the target intersection combination are matched to obtain a matching result corresponding to the target intersection combination; at the 0.2th second, based on the first intersection information and the second intersection information most recently acquired at this time, the first intersection and the second intersection in the target intersection combination are matched to obtain another matching result corresponding to the target intersection combination, and so on.
[0129] Sub-step A2, when the number of successes of the matching result meets a preset verification condition, establishing a corresponding relationship between the first intersection and the second intersection in the target intersection combination.
[0130] In the embodiment of the present invention, a technician or user can pre-set a preset verification condition for verifying the matching results, wherein the preset verification condition can include that the number of successful matches in the first number of matching results exceeds the second number, for example, the number of successful matches in 90 matching results exceeds 80. The above-mentioned first number and second number can be flexibly set by a technician or user, and the embodiment of the present invention does not specifically limit them.
[0131] Furthermore, the preset verification condition may also include a confidence threshold. In this case, the matching confidence may be calculated based on the number of successful matching results, and then the matching confidence may be compared with the confidence threshold in the verification condition, thereby verifying the target intersection combination. Specifically, the matching confidence may be calculated using the following formula 5:
[0132]
[0133] Among them, conf ij represents the matching confidence of the target intersection combination consisting of the first intersection i and the second intersection j, and match_count represents the number of successful matches in the preset number of matching results (for example, 90).
[0134] For example, assuming that the preset time interval is 50 milliseconds, at the 0th second, the first intersection and the second intersection in an intersection combination are successfully matched for the first time, and the intersection combination is determined as the target intersection combination; thereafter, one matching result of the target intersection combination is obtained every 50 milliseconds, and a preset number of matching results (for example, 90) are obtained after 4.5 seconds. The number of successful matches among these matching results is 80 times. Then, the matching confidence of the target intersection combination can be calculated by the above formula 5 as follows: If the confidence threshold is set to 0.7, since the matching confidence of the target intersection combination is greater than the confidence threshold, it can be determined that the target intersection combination has passed the verification, and the corresponding relationship between the first intersection and the second intersection in the target intersection combination can be established.
[0135] Step 204: determining a first intersection to be turned to from the first intersections in the first map based on the navigation path corresponding to the first map.
[0136] This step may refer to the above-mentioned step 102, and will not be described in detail in this embodiment of the present invention.
[0137] Step 205: When it is determined that there is a corresponding second intersection at the first intersection to be turned to based on the intersection correspondence, the navigation path is matched to the second map to obtain a target navigation map.
[0138] This step may refer to the above-mentioned step 103, and will not be described in detail in this embodiment of the present invention.
[0139] It should be noted that the first intersection to be turned to is essentially a first intersection. Since there is a correspondence between the first intersection and the second intersection in the intersection correspondence relationship, the second intersection corresponding to the first intersection to be turned to can be found from the intersection correspondence relationship, wherein the corresponding first intersection and second intersection represent the first intersection and second intersection corresponding to the same real intersection.
[0140] Step 206, when it is determined based on the intersection correspondence that there is a corresponding second intersection for the first intersection to be turned to, automatic driving is performed based on the target navigation map, and / or the target navigation map is displayed.
[0141] Automatic driving can be performed or continued based on the target navigation map, using map data provided by a high-precision second map and a driving route provided by a navigation path for automatic driving, and driving into the route indicated by the navigation path through automatic driving.
[0142] In addition to being used for autonomous driving, the target navigation map can also be output to the user so that the user can autonomously drive the vehicle according to the target navigation map. Thus, after the optimal navigation path is generated based on the first map with lower accuracy, when the second map has a driving route indicated by the navigation path, the second map with higher accuracy and the navigation path are combined to output a target navigation map with higher accuracy, which can provide lane-level navigation information to the user or the autonomous driving system while maintaining the optimal navigation path.
[0143] Step 207, when it is determined based on the intersection correspondence that there is no corresponding second intersection for the first intersection to be turned to, exit the automatic driving state, and / or display a first navigation map obtained by matching the navigation path to the first map.
[0144] If there is no corresponding second intersection for the first intersection to be turned to, it means that the branch road corresponding to the first intersection to be turned to does not exist in the second map. At this time, automatic driving cannot be continued based on the high-precision second map. A prompt message to take over the vehicle can be sent to the user, and the vehicle can automatically exit the automatic driving state after the user takes over, so that the user can autonomously enter the first intersection to be turned to according to the first map and continue to drive along the navigation path.
[0145] In addition, if there is no corresponding second intersection at the first intersection to be turned, it means that the branch road corresponding to the first intersection to be turned does not exist in the second map. At this time, it is impossible to continue to provide the user with a lane-level high-precision navigation map. At this time, a first navigation map can be generated based on the first map and the navigation path, and the first navigation map can be displayed to the user, so that the user can drive into the first intersection to be turned according to the first navigation map.
[0146] Therefore, this solution can flexibly switch between a first navigation map generated based on the first map and a second navigation map generated based on the second map according to whether the high-precision map contains the intersection to turn to. This not only improves the application scenarios in which the navigation function is applicable, but also allows the first map to be used in time to continue navigation when the high-precision second map does not contain the intersection to turn to, thereby avoiding navigation interruption caused by different road network data between the first map and the second map, and can improve the robustness of the navigation function to a certain extent.
[0147] In summary, an embodiment of the present invention provides another navigation path matching method, including: determining an intersection correspondence between a first intersection in a first map and a second intersection in a second map; wherein the accuracy of the second map is greater than the accuracy of the first map; determining a first intersection to be turned from the first intersection in the first map based on the navigation path corresponding to the first map; and matching the navigation path to the second map to obtain a target navigation map when it is determined based on the intersection correspondence that there is a corresponding second intersection at the first intersection to be turned. In an embodiment of the present invention, according to the intersection correspondence between a first map with lower accuracy and a second map with higher accuracy, when the intersection to be turned exists in the second map, the navigation path generated based on the first map can be matched to the second map to obtain a target navigation map with higher accuracy. The better navigation path obtained based on the first map can be matched with the second map with higher accuracy to obtain a target navigation map with higher accuracy, which helps to improve navigation efficiency when navigating based on high-precision maps.
[0148] Based on the above embodiment, an embodiment of the present invention further provides a navigation path matching device.
[0149] refer to Fig. 9 , Fig. 9 A structural block diagram of a navigation path matching device provided by an embodiment of the present invention is shown:
[0150] An intersection matching module 901 is used to determine an intersection correspondence relationship between a first intersection in a first map and a second intersection in a second map; wherein the accuracy of the second map is greater than the accuracy of the first map;
[0151] A waiting intersection module 902, configured to determine a waiting first intersection from a first intersection in the first map based on a navigation path corresponding to the first map;
[0152] The navigation map module 903 is used to match the navigation path to the second map to obtain a target navigation map when it is determined based on the intersection correspondence that there is a corresponding second intersection at the first intersection to be turned.
[0153] Optionally, the intersection matching module includes:
[0154] A first intersection information submodule, used to obtain first intersection information of a first intersection within a preset distance in the vehicle's driving direction in the first map;
[0155] A second intersection information submodule, used to obtain second intersection information of a second intersection within a preset distance in the vehicle's driving direction in the second map;
[0156] The intersection matching submodule is used to determine the intersection correspondence relationship between the first intersection and the second intersection based on the first intersection information and the second intersection information.
[0157] Optionally, the first intersection information includes at least one of intersection type information of the first intersection, intersection angle information of the first intersection, and distance information between the first intersection and the vehicle.
[0158] Optionally, the intersection matching submodule includes:
[0159] An intersection consistency submodule, used to determine the intersection consistency corresponding to the intersection combination based on first intersection information of a first intersection included in the intersection combination and second intersection information of a second intersection included in the intersection combination; wherein the intersection combination is composed of any first intersection and any second intersection;
[0160] The target intersection combination submodule is used to determine the intersection combination whose intersection consistency meets the preset consistency condition as the target intersection combination, and establish a corresponding relationship between the first intersection and the second intersection in the target intersection combination.
[0161] Optionally, the device further comprises:
[0162] A matching result module, configured to match the first intersection and the second intersection in the target intersection combination based on the latest first intersection information and the latest second intersection information at a preset time interval to obtain a matching result;
[0163] The corresponding relationship submodule is used to establish a corresponding relationship between the first intersection and the second intersection in the target intersection combination when the number of successes of the matching result meets a preset verification condition.
[0164] Optionally, the intersection consistency includes at least one of an intersection type ratio, an intersection distance difference, and an intersection angle difference.
[0165] Optionally, the device further comprises:
[0166] A target navigation map module, for performing automatic driving based on the target navigation map, and / or displaying the target navigation map, when it is determined based on the intersection correspondence relationship that there is a corresponding second intersection at the first intersection to be turned to;
[0167] The first navigation map module is used to exit the automatic driving state when it is determined that there is no corresponding second intersection for the first intersection to be turned to based on the intersection correspondence relationship, and / or to display the first navigation map obtained by matching the navigation path to the first map.
[0168] In summary, an embodiment of the present invention provides a navigation path matching device, including: an intersection matching module, used to determine the intersection correspondence between a first intersection in a first map and a second intersection in a second map; wherein the accuracy of the second map is greater than the accuracy of the first map; a waiting intersection module, used to determine the first intersection to be turned from the first intersection of the first map based on the navigation path corresponding to the first map; and a navigation map module, used to match the navigation path to the second map to obtain a target navigation map when it is determined based on the intersection correspondence that there is a corresponding second intersection at the first intersection to be turned. In an embodiment of the present invention, according to the intersection correspondence between the first map with lower accuracy and the second map with higher accuracy, when the intersection to be turned exists in the second map, the navigation path generated based on the first map can be matched to the second map to obtain a target navigation map with higher accuracy. The better navigation path obtained based on the first map can be matched with the second map with higher accuracy to obtain a target navigation map with higher accuracy, which helps to improve the navigation efficiency when navigating based on a high-precision map.
[0169] An embodiment of the present invention further provides a vehicle controller, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor executes the above-mentioned navigation path matching method.
[0170] An embodiment of the present invention further provides a readable storage medium. When the instructions in the readable storage medium are executed by a processor of a vehicle controller, the vehicle controller can execute the above-mentioned navigation path matching method.
[0171] An embodiment of the present invention further provides a vehicle, comprising the above-mentioned vehicle controller.
[0172] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned device embodiments and will not be repeated here.
[0173] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.
[0174] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.
Claims
1. A navigation path matching method, characterized in that: The method comprises: Determining an intersection correspondence relationship between a first intersection in a first map and a second intersection in a second map; wherein the accuracy of the second map is greater than the accuracy of the first map; Determining a first intersection to be turned to from a first intersection on the first map based on the navigation path corresponding to the first map; When it is determined based on the intersection correspondence that there is a corresponding second intersection for the first intersection to be turned to, the navigation path is matched to the second map to obtain a target navigation map.
2. The method according to claim 1, characterized in that The determining of the intersection correspondence between the first intersection in the first map and the second intersection in the second map includes: Acquire first intersection information of a first intersection within a preset distance in the vehicle's driving direction in the first map; Acquire second intersection information of a second intersection within a preset distance in the vehicle's driving direction in the second map; Based on the first intersection information and the second intersection information, an intersection correspondence relationship between the first intersection and the second intersection is determined.
3. The method according to claim 2, characterized in that The first intersection information includes at least one of intersection type information of the first intersection, intersection angle information of the first intersection, and distance information between the first intersection and the vehicle.
4. The method according to claim 2, characterized in that: The determining, based on the first intersection information and the second intersection information, an intersection correspondence relationship between the first intersection and the second intersection includes: Determine the intersection consistency corresponding to the intersection combination based on first intersection information of a first intersection included in the intersection combination and second intersection information of a second intersection included in the intersection combination; wherein the intersection combination is composed of any first intersection and any second intersection; The intersection combination whose intersection consistency meets the preset consistency condition is determined as the target intersection combination, and a corresponding relationship between the first intersection and the second intersection in the target intersection combination is established.
5. The method according to claim 4, characterized in that The method further comprises: According to a preset time interval, based on the latest first intersection information and the latest second intersection information, matching the first intersection and the second intersection in the target intersection combination to obtain a matching result; When the number of successes of the matching result meets a preset verification condition, a corresponding relationship between the first intersection and the second intersection in the target intersection combination is established.
6. The method according to claim 4, characterized in that The intersection consistency includes at least one of an intersection type ratio, an intersection distance difference, and an intersection angle difference.
7. The method according to claim 1, characterized in that The method further comprises: When it is determined based on the intersection correspondence that there is a corresponding second intersection at the first intersection to be turned to, autonomous driving is performed based on the target navigation map, and / or the target navigation map is displayed; When it is determined based on the intersection correspondence that there is no corresponding second intersection for the first intersection to be turned to, the automatic driving state is exited, and / or a first navigation map obtained by matching the navigation path to the first map is displayed.
8. A navigation path matching device, characterized in that: The device comprises: An intersection matching module, used to determine an intersection correspondence between a first intersection in a first map and a second intersection in a second map; wherein the accuracy of the second map is greater than the accuracy of the first map; A waiting intersection module, configured to determine a waiting first intersection from a first intersection on the first map based on a navigation path corresponding to the first map; The navigation map module is used to match the navigation path to the second map to obtain a target navigation map when it is determined based on the intersection correspondence that there is a corresponding second intersection at the first intersection to be turned.
9. A vehicle controller, characterized in that: The vehicle controller includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the navigation path matching method according to any one of claims 1 to 7 is implemented.
10. A readable storage medium, characterized in that: When the instructions in the readable storage medium are executed by a processor of a vehicle controller, the vehicle controller is enabled to execute the navigation path matching method as described in any one of claims 1 to 7.