Automatic navigation auxiliary driving system

Abstract

The invention provides an automatic navigation aided driving system, which relates to the technical field of aided driving and comprises a user interaction module, a navigation and positioning module, a road information processing module, a whole vehicle attitude calculation module, a map information processing and storage module, an aided driving road condition acquisition module and an aided driving control module. According to the invention, the camera, radar and other ADAS sensors on the vehicle are utilized to acquire images of common routes, the images are stored in the vehicle and are only used for an automatic navigation scheme of the vehicle, the scheme is high in flexibility, and the situation that the functions are difficult to use by customers in small places due to resource limitation of image acquirers is avoided; the map packet is small and fast to update, and almost has no cost; the technical problems that in the prior art, a high-precision map collection mode is likely to cause the small coverage of a high-precision map or most maps are not updated urgently and are not accurate, and use and accuracy of functions are limited are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of assisted driving, and in particular to an automatic navigation assisted driving system. Background Art

[0002] At present, many vehicles on the market are equipped with automatic navigation and assisted driving functions. Their implementation requires a combination of high-precision maps and high-precision positioning to determine whether the vehicle is on the correct road and lane, and to guide the assisted driving function to switch to the correct road network.

[0003] However, the collection of high-precision maps requires a large workload, a long collection time, a lot of manpower and equipment, and huge collection costs due to the large number of routes, changeable roads, and long mileage. In addition, the collection requires review and processing by national departments, and the update time is long. It is easy to cause the high-precision map coverage to be small or most maps to be updated in an untimely and inaccurate manner, which greatly limits the use and accuracy of the functions, while also greatly increasing the cost of the functions and greatly reducing the customer experience. Summary of the invention

[0004] Based on this, the purpose of the present invention is to provide an automatic navigation assisted driving system, which is used to solve the technical problem that the high-precision map collection method in the prior art easily causes the high-precision map coverage to be small or most maps are updated untimely and inaccurately, limiting the use and accuracy of the functions.

[0005] On one hand, the present invention provides an automatic navigation assisted driving system, a user interaction module, which is used to actively obtain the road section where the navigation and positioning modules need to collect information;

[0006] The navigation and positioning module is used to obtain the historical map and determine whether the road section of the information collected by the user interaction module is correct according to the historical map;

[0007] A road information processing module is used to calculate the actual road information based on the information from the user interaction module and the navigation and positioning module, and extract the actual road information to form map information, which includes the number of road lanes, road width, road network switching and routes, road speed limit information and other signs, road ups and downslopes, road curvature, and road lane lines;

[0008] The vehicle posture calculation module is used to obtain the vehicle posture;

[0009] A map information processing and storage module, used to form map information according to the actual road information extracted by the road information processing module to form a current map, and store the current map;

[0010] An auxiliary driving road condition acquisition module, comprising a plurality of sensors, for acquiring road condition information of an area associated with the current map according to the current map, wherein the road condition information includes pedestrian information;

[0011] The assisted driving control module is used to obtain information from the user interaction module, navigation and positioning module, vehicle posture calculation module, map information processing and storage module, and assisted driving sensor module to output assisted driving instructions and realize assisted driving.

[0012] The above-mentioned automatic navigation assisted driving system uses ADAS sensors such as cameras and radars on the vehicle to map commonly used routes and store them in the vehicle itself. It is an automatic navigation solution that is only used for the vehicle itself. This solution is highly flexible and will not be limited by the resources of the map collector, resulting in the function being difficult to be used by customers in small places. The map package is small, updated quickly, and almost cost-free. It solves the technical problem that the high-precision map collection method in the existing technology easily results in small coverage of high-precision maps or most maps are not updated in a timely and accurate manner, which limits the use and accuracy of functions.

[0013] In addition, the automatic navigation assisted driving system according to the present invention may also have the following additional technical features:

[0014] Furthermore, the map information processing and storage module includes a road detection and information collection unit, a road information processing unit, and a road and target desensitization unit. In the road information processing module:

[0015] Determine whether the road section is a frequently driven road section according to the road section located by the navigation and positioning module;

[0016] If yes, then obtaining actual road information according to the road detection and information collection unit, the vehicle posture calculation module and the auxiliary driving sensor module, and transmitting the actual road information to the road information processing unit to obtain processed road information;

[0017] The road and target desensitizing unit obtains the processed road information and desensitizes it to obtain the current map.

[0018] Further, in the step where the road and target desensitizing unit obtains the processed road information and desensitizes it to obtain the current map:

[0019] The road and target desensitization unit obtains the processed road information and desensitizes it to obtain a pre-map;

[0020] Obtain historical maps based on navigation and positioning modules;

[0021] Determine that the preliminary map exceeds the area of ​​the historical map;

[0022] If so, the historical map is updated according to the predicted map to obtain the current map.

[0023] Furthermore, in the step of determining whether the road section located by the navigation and positioning module is a frequently driven road section, the frequently driven road section includes: a road section that is traveled back and forth more than five times within a week.

[0024] Furthermore, in the auxiliary driving control module:

[0025] Get the current map and determine whether the current map meets the requirements for assisted driving;

[0026] If it meets the requirements, the assisted driving command is output to achieve assisted driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the architecture of the automatic navigation assisted driving system of the present invention;

[0028] The following specific implementation manner will further illustrate the present invention in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0029] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. Several embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0031] In order to solve the technical problem that the high-precision map collection method in the prior art is easy to cause the high-precision map to have a small coverage area or most maps are not updated in a timely manner and are inaccurate, which limits the use and accuracy of functions. The present application provides an automatic navigation assisted driving system, which uses ADAS sensors such as cameras and radars on the vehicle to collect maps of common routes and store them in the vehicle itself and is only used for the vehicle itself. An automatic navigation solution, this solution is highly flexible and will not be limited by the resources of the map collector, resulting in the function being difficult to be used by customers in small places; and the map package is small, updated quickly, and almost cost-free; it solves the technical problem that the high-precision map collection method in the prior art is easy to cause the high-precision map to have a small coverage area or most maps are not updated in a timely manner and are inaccurate, which limits the use and accuracy of functions.

[0032] In order to facilitate understanding of the present invention, several embodiments of the present invention are provided below. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0033] Embodiment 1

[0034] See also Figure 1 , shown is an automatic navigation assisted driving system in the first embodiment of the present invention, comprising: a user interaction module, a navigation and positioning module, a road information processing module, a vehicle posture calculation module, a map information processing and storage module, an assisted driving road condition acquisition module, and an assisted driving control module;

[0035] in:

[0036] The user interaction module is used to actively obtain the road sections that the navigation and positioning modules need to collect information on.

[0037] The navigation and positioning module is used to obtain the historical map and determine whether the road section whose information is collected by the user interaction module is correct based on the historical map.

[0038] The road information processing module is used to calculate the actual road information based on the information from the user interaction module and the navigation and positioning module, and extract the actual road information to form map information. The map information includes the number of road lanes, road width, road network switching and routes, road speed limit information and other signs, road ups and downslopes, road curvature, and road lane lines.

[0039] The vehicle posture calculation module is used to obtain the vehicle posture.

[0040] The map information processing and storage module is used to form the map information according to the actual road information extracted by the road information processing module to form the current map, and store the current map. Since there may be other traffic participants during driving, there are a few driving times, and the collected information is not enough to form a complete map information that can support navigation-assisted driving. Therefore, it is necessary to drive and collect information multiple times to form a final map that meets the requirements.

[0041] When the map information meets the requirements, map collection can still be continued and updated to make the map information more comprehensive and timely. After the map information meets the requirements of navigation-assisted driving, the user can issue instructions to enter navigation-assisted driving through the user interaction module, which needs to be given to the navigation-assisted driving control module. The navigation-assisted driving control module controls the vehicle to enter navigation assistance through the navigation and positioning module, map information, etc., combined with the vehicle posture calculation module and the assisted driving road condition acquisition module.

[0042] The auxiliary driving road condition acquisition module includes multiple sensors, which are used to obtain road condition information of an area associated with the current map according to the current map, and the road condition information includes pedestrian information.

[0043] The assisted driving control module is used to obtain information from the user interaction module, navigation and positioning module, vehicle posture calculation module, map information processing and storage module, and assisted driving sensor module to output assisted driving instructions to achieve assisted driving. In the assisted driving control module: obtain the current map and determine whether the current map meets the assisted driving requirements; if it does, output assisted driving instructions to achieve assisted driving.

[0044] As a specific example, the map information processing and storage module includes a road detection and information collection unit, a road information processing unit, and a road and target desensitization unit. In the road information processing module, the automatic navigation assisted driving system includes steps S101-S103:

[0045] S101. Determine whether the road section is a frequently driven road section according to the road section located by the navigation and positioning module.

[0046] Among them, the frequently driven section includes a section of road that is traveled back and forth more than five times in a week; specifically, the frequently driven section can be determined by a certain memory or counting method. The two methods of determining the frequently driven section can complement each other. That is, if the user determines that sections A and B are frequently driven sections, but finds through the navigation and positioning module that sections C and D including sections A and B are frequently driven sections, then the frequently driven section will be expanded to sections C and D on the basis of sections A and B originally selected by the user.

[0047] If it is a frequently driven road section, execute step S102;

[0048] S102, obtaining actual road information according to the road detection and information collection unit, the vehicle posture calculation module and the auxiliary driving sensor module, and transmitting the actual road information to the road information processing unit to obtain processed road information.

[0049] S103, the road and target desensitizing unit obtains the processed road information and desensitizes it to obtain the current map.

[0050] In this embodiment, the road and target desensitizing unit obtains the processed road information and desensitizes it to obtain a preliminary map; obtains the historical map according to the navigation and positioning module; determines whether the preliminary map exceeds the area scope of the historical map; if so, updates the historical map according to the preliminary map to obtain the current map.

[0051] When the map information is sufficient to support navigation-assisted driving, the user turns on navigation-assisted driving through the customer interaction module. The assisted driving control module combines the map, vehicle posture, navigation and positioning, and sensors of the assisted driving road condition acquisition module to activate the navigation-assisted driving function and assist the driver in driving the vehicle on the road section where the map information has been collected. During the entire interaction process, information transmission between modules is transmitted through the information transmission system, such as the local area network CAN or the vehicle Ethernet. At the same time, in order to protect the security of information and data, all modules have information security anti-tampering units, and data verification is also performed during data transmission.

[0052] This application uses navigation-assisted sensors to collect road information of frequently driven sections and make maps to support navigation assistance, thereby reducing the problem of inaccurate or untimely updating of high-precision maps required for navigation assistance, and even omitting high-precision maps on frequently driven sections to save costs. This greatly improves the problem of poor experience of navigation assistance caused by outdated maps, and enhances the vehicle's sense of technology and intelligence.

[0053] In summary, the automatic navigation assisted driving system in the above-mentioned embodiments of the present invention uses ADAS sensors such as cameras and radars on the vehicle to map commonly used routes and store them in the vehicle itself. It is an automatic navigation solution that is only used for the vehicle itself. This solution is highly flexible and will not be limited by the resources of the map collector, resulting in the function being difficult to be used by customers in small places. The map package is small, updated quickly, and almost cost-free. This solves the technical problem that the high-precision map collection method in the prior art easily results in small high-precision map coverage or most maps are not updated in a timely and accurate manner, thereby limiting the use and accuracy of the function.

[0054] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0055] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0056] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. An automatic navigation assisted driving system, characterized in that: include: The user interaction module is used to actively obtain the road sections that the navigation and positioning modules need to collect information; The navigation and positioning module is used to obtain the historical map and determine whether the road section of the information collected by the user interaction module is correct according to the historical map; A road information processing module is used to calculate the actual road information based on the information from the user interaction module and the navigation and positioning module, and extract the actual road information to form map information, which includes the number of road lanes, road width, road network switching and routes, road speed limit information and other signs, road ups and downslopes, road curvature, and road lane lines; The vehicle posture calculation module is used to obtain the vehicle posture; A map information processing and storage module, used to form map information according to the actual road information extracted by the road information processing module to form a current map, and store the current map; An auxiliary driving road condition acquisition module, comprising a plurality of sensors, for acquiring road condition information of an area associated with the current map according to the current map, wherein the road condition information includes pedestrian information; The assisted driving control module is used to obtain information from the user interaction module, navigation and positioning module, vehicle posture calculation module, map information processing and storage module, and assisted driving sensor module to output assisted driving instructions and realize assisted driving.

2. The automatic navigation assisted driving system according to claim 1, characterized in that: The map information processing and storage module includes a road detection and information collection unit, a road information processing unit, and a road and target desensitization unit. In the road information processing module: Determine whether the road section is a frequently driven road section according to the road section located by the navigation and positioning module; If yes, then obtaining actual road information according to the road detection and information collection unit, the vehicle posture calculation module and the auxiliary driving sensor module, and transmitting the actual road information to the road information processing unit to obtain processed road information; The road and target desensitizing unit obtains the processed road information and desensitizes it to obtain the current map.

3. The automatic navigation assisted driving system according to claim 2, characterized in that: In the step where the road and target desensitization unit obtains the processed road information and desensitizes it to obtain the current map: The road and target desensitization unit obtains the processed road information and desensitizes it to obtain a pre-map; Obtain historical maps based on navigation and positioning modules; Determine that the preliminary map exceeds the area of ​​the historical map; If so, the historical map is updated according to the predicted map to obtain the current map.

4. The automatic navigation assisted driving system according to claim 2, characterized in that: In the step of determining whether the road section located by the navigation and positioning module is a frequently driven road section, the frequently driven road section includes: a road section that is traveled back and forth more than five times within a week.

5. The automatic navigation assisted driving system according to claim 1, characterized in that: In the Assisted Driving Control Module: Get the current map and determine whether the current map meets the requirements for assisted driving; If it meets the requirements, the assisted driving command is output to achieve assisted driving.

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