Navigation control method and system based on navigation map, medium and vehicle-mounted terminal

Abstract

The invention provides a navigation control method and system based on a navigation map, a medium and a vehicle-mounted terminal. The method comprises the following steps: acquiring navigation information and perception information of a vehicle; the navigation information and the sensing information are preprocessed; acquiring lane level positioning information of the vehicle based on the pre-processed sensing information; when it is judged that the vehicle enters the automatic navigation state, lane changing decision information is obtained based on the preprocessed navigation information and the lane-level positioning information; performing speed limit decision information based on the preprocessed navigation information; and controlling the vehicle based on the lane changing decision information and the speed limiting decision information. According to the navigation control method and system based on the navigation map, the medium and the vehicle-mounted terminal disclosed by the invention, automatic navigation control can be realized only based on the navigation map and the sensing information.

Description

Technical Field

[0001] The present disclosure relates to the technical field of automatic assisted driving, and in particular to a navigation control method, system, medium and vehicle-mounted terminal based on a navigation map. Background Art

[0002] With the continuous development of vehicle electrification and intelligent technology, the application of automatic assisted driving systems in vehicles is becoming more and more widespread. High-performance assisted driving systems rely not only 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 high. This makes the implementation of high-level assisted driving technology increasingly difficult.

[0003] In addition, the key to the effective operation of the autonomous driving navigation system is that the vehicle can correctly identify the timing of automatic on- and off-ramps and determine which roads are passable. However, existing autonomous driving navigation systems usually cannot meet the above requirements.

[0004] Public Content

[0005] In view of the above-mentioned shortcomings of the prior art, the purpose of the present disclosure is to provide a navigation control method, system, medium and vehicle-mounted terminal based on a navigation map, which can realize automatic navigation control based only on the navigation map and perception information.

[0006] In a first aspect, the present disclosure provides a navigation control method based on a navigation map, the method comprising the following steps: acquiring navigation information and perception information of a vehicle; preprocessing the navigation information and the perception information; acquiring lane-level positioning information of the vehicle based on the preprocessed perception information; when it is determined that an automatic navigation state has been entered, acquiring lane change decision information based on the preprocessed navigation information and the lane-level positioning information; making speed limit decision information based on the preprocessed navigation information; and controlling the vehicle based on the lane change decision information and the speed limit decision information.

[0007] In an implementation of the first aspect, obtaining navigation information and perception information of a vehicle includes the following steps:

[0008] Acquiring the navigation information based on the middleware;

[0009] The perception information is acquired based on an image acquisition device.

[0010] In an implementation manner of the first aspect, preprocessing the navigation information and the perception information includes the following steps:

[0011] using the navigation information or the perception information as input information;

[0012] Determining whether the input information has unexpected jumps;

[0013] If an unexpected jump occurs, the first counter is started and the second counter is cleared; when the count value of the first counter is less than the first preset threshold, the input information of the previous frame is output, otherwise the input information of the current frame is output;

[0014] If no unexpected jump occurs, the first counter is cleared and the second counter is started; when the count value of the second counter is greater than a second preset threshold, the input information of the current frame is output, otherwise the input information of the previous frame is output.

[0015] In an implementation of the first aspect, acquiring lane-level positioning information of the vehicle based on the preprocessed perception information includes the following steps:

[0016] Based on the preprocessed perception information, obtaining the distance between the vehicle and the leftmost side and the rightmost side of the road;

[0017] Determining whether the vehicle is in the leftmost lane or the rightmost lane based on the distance;

[0018] If the vehicle is not in the leftmost lane and the rightmost lane, determining whether the vehicle is in the second right lane;

[0019] When the vehicle is in the secondary right lane, the lane information where the vehicle is located is corrected according to whether the right lane of the vehicle is an emergency lane, and the lane information where the vehicle is located is used as the lane-level positioning information of the vehicle.

[0020] In an implementation of the first aspect, when it is determined that the automatic navigation state is entered, acquiring lane change decision information based on the preprocessed navigation information and the lane-level positioning information includes the following steps:

[0021] When the vehicle's navigation status is normal, the perception status is normal, the positioning status is normal, the lateral function is activated, the longitudinal function is activated, and the vehicle is not near a toll booth and is not near a target point, it is judged to enter the automatic navigation status;

[0022] generating a lane change instruction based on the preprocessed navigation information;

[0023] modifying the lane change instruction based on lane information;

[0024] When the vehicle meets a preset condition, generating a modified lane change instruction;

[0025] The lane change instruction is filtered, and the filtered lane change instruction is output.

[0026] In an implementation of the first aspect, generating a lane change instruction based on the preprocessed navigation information includes the following steps:

[0027] When it is determined according to the lane-level positioning information that there is a foreground lane in the preprocessed navigation information, the following operations are performed:

[0028] If the foreground lane requires a left turn, generating a left turn instruction;

[0029] If the foreground lane requires a right turn, generating a right turn instruction;

[0030] If the foreground lane requires straight driving, when only the rightmost side of the foreground lane is passable and the vehicle is not on the rightmost side, a right lane change instruction is generated; when the leftmost side of the foreground lane is impassable and the vehicle is on the leftmost side, a right lane change instruction is generated; when only the leftmost side of the foreground lane is passable and the vehicle is not on the leftmost side, a left lane change instruction is generated; when the rightmost side of the foreground lane is impassable and the vehicle is on the rightmost side, a left lane change instruction is generated; when the vehicle is in the middle lane and needs to turn left in the future and is within a preset distance from the turning point, a left lane change instruction is generated; when the vehicle is in the middle lane and needs to turn right in the future and is within the preset distance from the turning point, a right lane change instruction is generated;

[0031] If the direction of travel of the foreground lane is unclear, when a left turn is required in the future and the distance to the turning point is within the preset distance, a left lane change instruction is generated; when a right turn is required in the future and the distance to the turning point is within the preset distance, a right lane change instruction is generated;

[0032] When it is determined according to the lane-level positioning information that there is no foreground lane in the preprocessed navigation information, the following operations are performed:

[0033] When the current turning type is left turn and the distance to the turning point is within a preset range, a left lane change instruction is generated;

[0034] When the current turning type is a right turn and the distance to the turning point is within the preset range, a right lane change instruction is generated.

[0035] In an implementation of the first aspect, performing speed limit decision information based on the preprocessed navigation information includes the following steps:

[0036] Determining whether there is a ramp ahead according to the preprocessed navigation information;

[0037] When there is a ramp ahead, determining whether the vehicle is in an entrance lane of the ramp;

[0038] When in the entrance lane, determine whether the distance between the vehicle and the ramp is less than a preset threshold; if so, generate a speed limit instruction; if not, do not limit the speed.

[0039] In a second aspect, the present invention provides a navigation control system based on a navigation map, the system comprising an acquisition module, a preprocessing module, a positioning module, a first decision module, a second decision module and a navigation control module;

[0040] The acquisition module is used to acquire navigation information and perception information of the vehicle;

[0041] The preprocessing module is used to preprocess the navigation information and the perception information;

[0042] The positioning module is used to obtain lane-level positioning information of the vehicle based on the preprocessed perception information;

[0043] The first decision module is used to obtain lane change decision information based on the preprocessed navigation information and the lane-level positioning information when it is determined that the automatic navigation state is entered;

[0044] The second decision module is used to make a speed limit decision based on the pre-processed navigation information;

[0045] The navigation control module is used to control the vehicle based on the lane change decision information and the speed limit decision information.

[0046] In a third aspect, the present disclosure provides a storage medium having a computer program stored thereon, which, when executed by a device, implements the above-mentioned navigation control method based on the navigation map.

[0047] In a fourth aspect, the present disclosure provides a vehicle-mounted terminal, the device comprising: a processor and a memory;

[0048] The memory is used to store computer programs;

[0049] The processor is used to execute the computer program stored in the memory so that the vehicle-mounted terminal executes the above-mentioned navigation control method based on the navigation map.

[0050] As described above, the navigation control method, system, medium and vehicle-mounted terminal based on the navigation map described in the present disclosure have the following beneficial effects:

[0051] (1) In the absence of high-precision maps and high-precision positioning, automatic navigation control can be achieved based only on navigation maps and perception information;

[0052] (2) The relative position relationship between the lane edge and the curb and the vehicle is used to locate the vehicle relative to the lane. Under the premise of satisfying vehicle control, the accuracy requirement of the vehicle on the positioning system is reduced;

[0053] (3) The functions of vehicle lane change and automatic on-ramp and off-ramp can be accurately realized only through navigation software, thereby eliminating the dependence of the autonomous driving navigation system on high-precision maps and greatly reducing the mass production cost of the autonomous driving navigation system;

[0054] (4) The vehicle can actively slow down when autonomously entering or exiting ramps, which improves the safety and comfort of autonomous driving vehicles to a certain extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 Shown is a flowchart of a navigation control method based on a navigation map in one embodiment of the present disclosure;

[0056] Figure 2 Shown is a flow chart of obtaining lane-level positioning information of a vehicle based on pre-processed perception information in one embodiment of the present disclosure;

[0057] Figure 3 Shown is a flow chart of obtaining lane change decision information based on pre-processed navigation information and lane-level positioning information in one embodiment of the present disclosure;

[0058] Figure 4 Shown is a schematic structural diagram of a navigation control system based on a navigation map in one embodiment of the present disclosure;

[0059] Figure 5 Shown is a schematic structural diagram of a vehicle-mounted terminal of the present disclosure in one embodiment. DETAILED DESCRIPTION

[0060] The following is an explanation of the embodiments of the present disclosure by specific examples, and those skilled in the art can easily understand other advantages and effects of the present disclosure from the information disclosed by the present disclosure. The present disclosure can also be implemented or applied through other different specific embodiments, and the details in the present disclosure can also be modified or changed in various ways according to different viewpoints and application modules without departing from the spirit of the present disclosure. It should be noted that the embodiments in the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0061] The following is a detailed description of the embodiments of the present disclosure with reference to the accompanying drawings so that those skilled in the art can easily implement the present disclosure. The present disclosure can be embodied in many different forms and is not limited to the embodiments described herein.

[0062] In the representations of the present disclosure, the reference terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" and the like mean that the specific features, structures, materials or characteristics represented in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. Moreover, the specific features, structures, materials or characteristics represented may be combined in any one or a group of embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples represented in the present disclosure and the features of different embodiments or examples, unless they are mutually contradictory.

[0063] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the representation of the present disclosure, "a group" means two or more, unless otherwise clearly and specifically defined.

[0064] In order to clearly describe the present disclosure, components not related to the description are omitted, and the same reference numerals are given to the same or similar components throughout the specification.

[0065] Throughout the specification, when a device is said to be "connected" to another device, this includes not only the case of "direct connection" but also the case of "indirect connection" by placing other elements therebetween. In addition, when a device is said to "include" a certain component, unless otherwise stated, it does not exclude other components, but means that other components may be included.

[0066] Although the terms first, second, etc. are used to represent various elements in this article in some examples, these elements should not be limited by these terms. These terms are only used to distinguish one element from another element. For example, the first interface and the second interface, etc. are represented. Moreover, as used in this article, the singular forms "one", "one" and "the" are intended to also include plural forms, unless there is an opposite indication in the context. It should be further understood that the terms "comprising" and "including" indicate that there are the described features, steps, operations, elements, modules, projects, kinds, and / or groups, but do not exclude the existence, occurrence or addition of one or a group of other features, steps, operations, elements, modules, projects, kinds, and / or groups. The terms "or" and "and / or" used herein are interpreted as inclusive, or mean any one or any combination. Therefore, "A, B or C" or "A, B and / or C" means "any of the following: A; B; C; A and B; A and C; B and C; A, B and C". Only when the combination of elements, functions, steps or operations is inherently mutually exclusive in some way, will there be an exception to this definition.

[0067] The technical terms used herein are only used to refer to specific embodiments and are not intended to limit the present disclosure. The singular form used herein also includes the plural form unless the sentence clearly indicates the contrary meaning. The meaning of "including" used in the specification is to specify specific characteristics, regions, integers, steps, operations, elements and / or components, and does not exclude the existence or addition of other characteristics, regions, integers, steps, operations, elements and / or components.

[0068] Although not defined differently, all terms, including technical and scientific terms used herein, have the same meaning as those generally understood by those skilled in the art to which the present disclosure belongs. Terms defined in commonly used dictionaries are additionally interpreted as having meanings consistent with relevant technical literature and the message of the present disclosure, and shall not be overly interpreted as ideal or very formal meanings unless defined.

[0069] The technical solutions in the embodiments of the present disclosure will be described in detail below in conjunction with the accompanying drawings in the embodiments of the present disclosure.

[0070] like Figure 1 As shown, in one embodiment, the navigation control method based on the navigation map disclosed in the present invention is applied to the vehicle-mounted terminal, including steps S1 to S6.

[0071] Step S1, obtaining navigation information and perception information of the vehicle.

[0072] Specifically, the navigation information is obtained based on the middleware. The navigation information includes turn information, foreground lanes and background lanes. In one embodiment, the navigation information may come from a vehicle navigation, a mobile phone navigation, an IPad navigation, etc.

[0073] The perception information is obtained based on an image acquisition device. The perception information includes lane line information and roadside information. In one embodiment, the image acquisition device uses a vehicle-mounted camera.

[0074] Step S2: pre-processing the navigation information and the perception information.

[0075] Specifically, since the navigation information is sent at a low frequency and is prone to frame loss and frame error, and the perception information is prone to jump and has more noise, a preprocessing operation is required.

[0076] In one embodiment, preprocessing the navigation information and the perception information comprises the following steps:

[0077] 21) Using the navigation information or the perception information as input information.

[0078] 22) Determine whether the input information has unexpected jumps.

[0079] 23) If an unexpected jump occurs, start the first counter and clear the second counter; when the count value of the first counter is less than the first preset threshold, output the input information of the previous frame, otherwise output the input information of the current frame.

[0080] 24) If no unexpected jump occurs, the first counter is cleared and the second counter is started; when the count value of the second counter is greater than a second preset threshold, the input information of the current frame is output, otherwise the input information of the previous frame is output.

[0081] Step S3: Acquire lane-level positioning information of the vehicle based on the preprocessed perception information.

[0082] Specifically, lane-level positioning of the vehicle is performed according to lane line information and roadside information.

[0083] In one embodiment, if Figure 2 As shown, obtaining the lane-level positioning information of the vehicle based on the preprocessed perception information includes the following steps:

[0084] 31) Based on the preprocessed perception information, obtain the distance between the vehicle and the leftmost and rightmost sides of the road.

[0085] The distance between the vehicle and the leftmost and rightmost sides of the road is calculated based on the information of the roadside on the left and right sides and the position information of the vehicle.

[0086] 32) Determine whether the vehicle is in the leftmost lane or the rightmost lane based on the distance.

[0087] When the distance to the rightmost side of the road is less than a first distance threshold, the vehicle is judged to be in the rightmost lane; when the distance to the leftmost side of the road is less than a second distance threshold, the vehicle is judged to be in the leftmost lane. Otherwise, the vehicle is judged to be in the middle lane.

[0088] 33) If the vehicle is not in the leftmost lane and the rightmost lane, determine whether the vehicle is in the second right lane.

[0089] Among them, when it is judged that the vehicle is in the middle lane, when the distance between the vehicle and the right curb is less than the third distance threshold and there is a right line in the current lane, the vehicle is judged to be in the secondary right lane; otherwise, the vehicle is still judged to be in the middle lane.

[0090] 34) When the vehicle is in the secondary right lane, the lane information of the vehicle is corrected according to whether the right lane of the vehicle is an emergency lane, and the lane information of the vehicle is used as the lane-level positioning information of the vehicle.

[0091] Among them, when the vehicle is in the secondary right lane, if the right side is detected as an emergency lane, the lane information of the vehicle needs to be corrected. If the current road is a highway, an elevated road or an urban expressway, and there is a solid line on the right side of the vehicle, then the lane where the vehicle is located is corrected to the rightmost lane; otherwise, the vehicle is still judged to be in the secondary right lane. Finally, the corrected lane information of the vehicle is output as the lane-level positioning information of the vehicle.

[0092] It should be noted that lane-level positioning such as the secondary left lane, the secondary right lane, the first lane on the left, and the second lane on the right can also be performed according to actual usage needs.

[0093] Step S4: when it is determined that the automatic navigation state is entered, the lane change decision information is obtained based on the preprocessed navigation information and the lane-level positioning information.

[0094] Specifically, Figure 3 As shown, when it is determined that the automatic navigation state is entered, obtaining lane change decision information based on the preprocessed navigation information and the lane-level positioning information includes the following steps:

[0095] 41) When the vehicle's navigation status is normal, the perception status is normal, the positioning status is normal, the lateral function is activated, the longitudinal function is activated, and the vehicle is not near a toll booth and is not near a target point, it is determined to enter the automatic navigation status.

[0096] The navigation state machine is designed according to the perception state, navigation state, positioning state, lateral function, longitudinal function, surrounding state, etc. of the vehicle. If the functions of each module of the navigation state machine are normal, the navigation is activated and enters the automatic navigation state.

[0097] 42) Generate a lane change instruction based on the preprocessed navigation information.

[0098] The step of generating a lane change instruction based on the preprocessed navigation information comprises the following steps:

[0099] A) when it is determined according to the lane-level positioning information that there is a foreground lane in the preprocessed navigation information, performing the following operations:

[0100] If the foreground lane requires a left turn, generating a left turn instruction;

[0101] If the foreground lane requires a right turn, generating a right turn instruction;

[0102] If the foreground lane requires straight driving, when only the rightmost side of the foreground lane is passable and the vehicle is not on the rightmost side, a right lane change instruction is generated; when the leftmost side of the foreground lane is impassable and the vehicle is on the leftmost side, a right lane change instruction is generated; when only the leftmost side of the foreground lane is passable and the vehicle is not on the leftmost side, a left lane change instruction is generated; when the rightmost side of the foreground lane is impassable and the vehicle is on the rightmost side, a left lane change instruction is generated; when the vehicle is in the middle lane and needs to turn left in the future and is within a preset distance from the turning point, a left lane change instruction is generated; when the vehicle is in the middle lane and needs to turn right in the future and is within the preset distance from the turning point, a right lane change instruction is generated;

[0103] If the direction of travel of the foreground lane is unclear, when a left turn is required in the future and the distance to the turning point is within the preset distance, a left lane change instruction is generated; when a right turn is required in the future and the distance to the turning point is within the preset distance, a right lane change instruction is generated;

[0104] B) when it is determined according to the lane-level positioning information that there is no foreground lane in the preprocessed navigation information, performing the following operations:

[0105] When the current turning type is left turn and the distance to the turning point is within a preset range, a left lane change instruction is generated;

[0106] When the current turning type is a right turn and the distance to the turning point is within the preset range, a right lane change instruction is generated.

[0107] It should be noted that on expressways, the preset range is 2000m by default; on urban roads, the preset range is 300m by default.

[0108] 43) Modifying the lane change instruction based on the lane information.

[0109] Among them, when the current road is a highway, the rightmost lane is not taken by default, and the corresponding right lane change instruction is cancelled; when the current road is a city road, the middle lane is taken by default, and the lane change instruction can be modified accordingly.

[0110] 44) When the vehicle meets the preset conditions, a revised lane change instruction is generated.

[0111] Wherein, when the vehicle satisfies the following conditions at the same time, a modified lane change instruction is generated:

[0112] a) The time since the last lane change is greater than a certain threshold (5s by default);

[0113] b) Vehicle lateral state enabling;

[0114] c) The current curve radius is greater than a certain threshold (400m by default).

[0115] 45) Filter the lane change instruction and output the filtered lane change instruction.

[0116] In order to ensure the stability of the output lane change command, a delay filter is performed here, that is, the lane change command is switched to be output only when the lane change command jump continues for more than a certain time.

[0117] Step S5: making a speed limit decision based on the preprocessed navigation information.

[0118] Specifically, in one embodiment, making a speed limit decision based on the preprocessed navigation information includes the following steps:

[0119] 51) Determine whether there is a ramp ahead according to the preprocessed navigation information.

[0120] 52) When there is a ramp ahead, determine whether the vehicle is in the entrance lane of the ramp.

[0121] 53) When in the entrance lane, determine whether the distance between the vehicle and the ramp is less than a preset threshold; if so, generate a speed limit instruction; if not, do not implement speed limit.

[0122] Step S6: controlling the vehicle based on the lane change decision information and the speed limit decision information.

[0123] Specifically, the lane-level positioning information, the lane-changing decision information, and the speed limit decision information are all provided to a vehicle controller, so that the vehicle controller can realize automatic navigation control of the vehicle.

[0124] The protection scope of the navigation control method based on the navigation map described in the embodiment of the present disclosure is not limited to the execution order of the steps listed in the present embodiment. All solutions implemented by adding, reducing or replacing steps in the prior art based on the principles of the present disclosure are included in the protection scope of the present disclosure.

[0125] The embodiments of the present disclosure also provide a navigation control system based on a navigation map, which can implement the navigation control method based on the navigation map described in the present disclosure. However, the implementation device of the navigation control system based on the navigation map described in the present disclosure includes but is not limited to the structure of the navigation control system based on the navigation map listed in the embodiments. All structural deformations and replacements of the prior art made according to the principles of the present disclosure are included in the protection scope of the present disclosure.

[0126] like Figure 4As shown, in one embodiment, the navigation control system based on the navigation map of the present disclosure includes an acquisition module 41, a preprocessing module 42, a positioning module 43, a first decision module 44, a second decision module 45 and a navigation control module 46.

[0127] The acquisition module 41 is used to acquire navigation information and perception information of the vehicle.

[0128] The preprocessing module 42 is connected to the acquisition module 41 and is used for preprocessing the navigation information and the perception information.

[0129] The positioning module 43 is connected to the preprocessing module 42 and is used to obtain lane-level positioning information of the vehicle based on the preprocessed perception information.

[0130] The first decision module 44 is connected to the positioning module 43 and the preprocessing module 42, and is used to obtain lane change decision information based on the preprocessed navigation information and the lane-level positioning information when it is determined that the automatic navigation state is entered.

[0131] The second decision module 45 is connected to the preprocessing module 42 and is used to make a speed limit decision based on the preprocessed navigation information.

[0132] The navigation control module 46 is connected to the first decision module 44 and the second decision module 45, and is used to control the vehicle based on the lane change decision information and the speed limit decision information.

[0133] Among them, the structures and principles of the acquisition module 41, the preprocessing module 42, the positioning module 43, the first decision module 44, the second decision module 45 and the navigation control module 46 correspond one by one to the steps in the above-mentioned navigation control method based on the navigation map, so they are not repeated here.

[0134] In the several embodiments provided in the present disclosure, it should be understood that the disclosed systems, devices or methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of modules / units is only a logical function division. There may be other division methods in actual implementation. 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 mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules or units, which can be electrical, mechanical or other forms.

[0135] The modules / units described as separate components may or may not be physically separated, and the components displayed as modules / units may or may not be physical modules, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules / units may be selected according to actual needs to achieve the purpose of the embodiments of the present disclosure. For example, the functional modules / units in the various embodiments of the present disclosure may be integrated into one processing module, or each module / unit may exist physically separately, or two or more modules / units may be integrated into one module / unit.

[0136] Those of ordinary skill in the art should further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this disclosure.

[0137] The present disclosure embodiment also provides a computer-readable storage medium. A person of ordinary skill in the art can understand that all or part of the steps in the method for implementing the above embodiment can be completed by instructing the processor through a program, and the program can be stored in a computer-readable storage medium, and the storage medium is a non-transitory medium, such as a random access memory, a read-only memory, a flash memory, a hard disk, a solid-state hard disk, a magnetic tape, a floppy disk, an optical disc, and any combination thereof. The above storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or a data center that includes one or more available media integrated. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a digital video disc (DVD)), or a semiconductor medium (e.g., a solid-state disk (SSD)), etc.

[0138] The embodiment of the present disclosure also provides a vehicle-mounted terminal. The vehicle-mounted terminal includes a processor and a memory.

[0139] The memory is used to store computer programs.

[0140] The memory includes: ROM, RAM, disk, USB flash drive, memory card or CD and other media that can store program codes.

[0141] The processor is connected to the memory and is used to execute the computer program stored in the memory so that the vehicle-mounted terminal executes the above-mentioned navigation control method based on the navigation map.

[0142] Preferably, the processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components.

[0143] like Figure 5 As shown, the vehicle terminal of the present disclosure is in the form of a general computing device. The components of the vehicle terminal may include but are not limited to: one or more processors or processing units 51, a memory 52, and a bus 53 connecting different system components (including the memory 52 and the processing unit 51).

[0144] Bus 53 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor or a local bus using any of a variety of bus architectures. For example, these architectures include but are not limited to Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus and Peripheral Component Interconnect (PCI) bus.

[0145] The vehicle-mounted terminal typically includes a variety of computer system readable media, which can be any available media that can be accessed by the vehicle-mounted terminal, including volatile and non-volatile media, removable and non-removable media.

[0146] The memory 52 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 521 and / or cache memory 522. The vehicle terminal may further include other removable / non-removable, volatile / non-volatile computer system storage media. For example only, the memory 52 may be used to read and write non-removable, non-volatile magnetic media ( Figure 5 not shown, usually called a "hard drive"). Although Figure 5Not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, a DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to the bus 53 via one or more data medium interfaces. The memory 52 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the various embodiments of the present disclosure.

[0147] A program / utility 524 having a set (at least one) of program modules 5241 may be stored, for example, in the memory 52, such program modules 5241 including but not limited to an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. The program modules 5241 generally perform the functions and / or methods of the embodiments described in the present disclosure.

[0148] The vehicle terminal can also communicate with one or more external devices (such as keyboards, pointing devices, displays, etc.), one or more devices that enable users to interact with the vehicle terminal, and / or any device that enables the vehicle terminal to communicate with one or more other computing devices (such as network cards, modems, etc.). Such communication can be performed through an input / output (I / O) interface 54. In addition, the vehicle terminal can also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN) and / or a public network, such as the Internet) through a network adapter 55. Figure 5 As shown, the network adapter 55 communicates with other modules of the vehicle-mounted terminal via the bus 53. It should be understood that, although not shown in the figure, other hardware and / or software modules can be used in conjunction with the vehicle-mounted terminal, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0149] The above embodiments are merely illustrative of the principles and effects of the present disclosure, and are not intended to limit the present disclosure. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present disclosure. Therefore, all equivalent modifications or changes made by a person of ordinary skill in the art without departing from the spirit and technical ideas disclosed in the present disclosure shall still be covered by the claims of the present disclosure.

Claims

1. A navigation control method based on a navigation map, characterized in that: The method comprises the following steps: Obtain navigation information and perception information of the vehicle; Preprocessing the navigation information and the perception information; Acquiring lane-level positioning information of the vehicle based on the preprocessed perception information; When it is determined that the automatic navigation state is entered, obtaining lane change decision information based on the preprocessed navigation information and the lane-level positioning information; Perform speed limit decision information based on the preprocessed navigation information; The vehicle is controlled based on the lane change decision information and the speed limit decision information.

2. The navigation control method based on the navigation map according to claim 1, characterized in that: Obtaining the vehicle's navigation information and perception information includes the following steps: Acquiring the navigation information based on the middleware; The perception information is acquired based on an image acquisition device.

3. The navigation control method based on the navigation map according to claim 1, characterized in that: Preprocessing the navigation information and the perception information comprises the following steps: using the navigation information or the perception information as input information; Determining whether the input information has unexpected jumps; If an unexpected jump occurs, the first counter is started and the second counter is cleared; when the count value of the first counter is less than the first preset threshold, the input information of the previous frame is output, otherwise the input information of the current frame is output; If no unexpected jump occurs, the first counter is cleared and the second counter is started; when the count value of the second counter is greater than a second preset threshold, the input information of the current frame is output, otherwise the input information of the previous frame is output.

4. The navigation control method based on the navigation map according to claim 1, characterized in that: Acquiring lane-level positioning information of the vehicle based on the preprocessed perception information includes the following steps: Based on the preprocessed perception information, obtaining the distance between the vehicle and the leftmost side and the rightmost side of the road; Determining whether the vehicle is in the leftmost lane or the rightmost lane based on the distance; If the vehicle is not in the leftmost lane and the rightmost lane, determining whether the vehicle is in the second right lane; When the vehicle is in the secondary right lane, the lane information where the vehicle is located is corrected according to whether the right lane of the vehicle is an emergency lane, and the lane information where the vehicle is located is used as the lane-level positioning information of the vehicle.

5. The navigation control method based on the navigation map according to claim 1, characterized in that: When it is determined that the automatic navigation state is entered, obtaining lane change decision information based on the preprocessed navigation information and the lane-level positioning information includes the following steps: When the vehicle's navigation status is normal, the perception status is normal, the positioning status is normal, the lateral function is activated, the longitudinal function is activated, and the vehicle is not near a toll booth and is not near a target point, it is judged to enter the automatic navigation status; generating a lane change instruction based on the preprocessed navigation information; modifying the lane change instruction based on lane information; When the vehicle meets a preset condition, generating a modified lane change instruction; The lane change instruction is filtered, and the filtered lane change instruction is output.

6. The navigation control method based on the navigation map according to claim 5, characterized in that: Generating a lane change instruction based on the preprocessed navigation information comprises the following steps: When it is determined according to the lane-level positioning information that there is a foreground lane in the preprocessed navigation information, the following operations are performed: If the foreground lane requires a left turn, generating a left turn instruction; If the foreground lane requires a right turn, generating a right turn instruction; If the foreground lane requires straight driving, when only the rightmost side of the foreground lane is passable and the vehicle is not on the rightmost side, a right lane change instruction is generated; when the leftmost side of the foreground lane is impassable and the vehicle is on the leftmost side, a right lane change instruction is generated; when only the leftmost side of the foreground lane is passable and the vehicle is not on the leftmost side, a left lane change instruction is generated; when the rightmost side of the foreground lane is impassable and the vehicle is on the rightmost side, a left lane change instruction is generated; When the vehicle is in the middle lane and needs to turn left in the future and is within a preset distance from the turning point, a left lane change instruction is generated; when the vehicle is in the middle lane and needs to turn right in the future and is within the preset distance from the turning point, a right lane change instruction is generated; If the direction of travel of the foreground lane is unclear, when a left turn is required in the future and the distance to the turning point is within the preset distance, a left lane change instruction is generated; when a right turn is required in the future and the distance to the turning point is within the preset distance, a right lane change instruction is generated; When it is determined according to the lane-level positioning information that there is no foreground lane in the preprocessed navigation information, the following operations are performed: When the current turning type is left turn and the distance to the turning point is within a preset range, a left lane change instruction is generated; When the current turning type is a right turn and the distance to the turning point is within the preset range, a right lane change instruction is generated.

7. The navigation control method based on the navigation map according to claim 1, characterized in that: Producing speed limit decision information based on the pre-processed navigation information includes the following steps: Determining whether there is a ramp ahead according to the preprocessed navigation information; When there is a ramp ahead, determining whether the vehicle is in an entrance lane of the ramp; When in the entrance lane, determine whether the distance between the vehicle and the ramp is less than a preset threshold; if so, generate a speed limit instruction; if not, do not limit the speed.

8. A navigation control system based on a navigation map, characterized in that: The system includes an acquisition module, a preprocessing module, a positioning module, a first decision module, a second decision module and a navigation control module; The acquisition module is used to acquire navigation information and perception information of the vehicle; The preprocessing module is used to preprocess the navigation information and the perception information; The positioning module is used to obtain lane-level positioning information of the vehicle based on the preprocessed perception information; The first decision module is used to obtain lane change decision information based on the preprocessed navigation information and the lane-level positioning information when it is determined that the automatic navigation state is entered; The second decision module is used to make a speed limit decision based on the pre-processed navigation information; The navigation control module is used to control the vehicle based on the lane change decision information and the speed limit decision information.

9. A storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the navigation control method based on the navigation map described in any one of claims 1 to 7 is implemented.

10. A vehicle-mounted terminal, characterized in that: include: Processor and memory; The memory is used to store computer programs; The processor is used to execute the computer program stored in the memory so that the vehicle-mounted terminal executes the navigation control method based on the navigation map according to any one of claims 1 to 7.

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