Combined lane-level navigation method assisted by visual inspection

Abstract

The invention belongs to the technical field of lane navigation, and discloses a combined lane-level navigation method assisted by visual inspection, which specifically comprises the following steps: S1, integrating a high-precision positioning module on vehicle-mounted terminal equipment to form a mobile station; s2, a high-precision positioning module receives a satellite positioning signal, calculates position data, time and motion state data of the mobile station, and is used for providing positioning information at any time; and S3, establishing a reference station with known three-dimensional coordinates on the ground, acquiring satellite positioning coordinate data, and sending a'correction 'result obtained by comparing the satellite positioning coordinate data with the precise coordinate data of the satellite positioning coordinate data to the mobile station through a wireless communication link. Under the condition that satellite signals fail, the lane position information is obtained in a visual detection mode, and the method serves as an auxiliary means, so that the application scene of lane-level navigation is wider.

Description

Technical Field

[0001] The present invention belongs to the technical field of lane navigation, and more specifically, relates to a combined lane-level navigation method using visual detection assistance. Background Art

[0002] With urban traffic congestion and the increasing number of cars, navigation has become an essential tool for modern people to travel. With the development of high-precision positioning technology, lane-level navigation and high-precision maps can provide users with a better user experience.

[0003] In order to achieve lane-level navigation, the accuracy of satellite navigation positioning must be stable within 1 meter. However, the satellite carrier phase differential technology currently used in smartphones to receive GNSS signals cannot stably perform differential analysis to obtain a fixed solution, especially in complex urban road environments. The proportion of fixed solutions is even lower, and it cannot meet the accuracy requirements of lane-level navigation. Even if ceramic antennas are used, they are too large to meet the appearance design requirements of mobile phones.

[0004] In order to solve the above problems, patent CN116659536A discloses a combined new high-performance lane-level navigation method: a high-precision positioning module is integrated on the vehicle-mounted terminal device to form a mobile station; the high-precision positioning module receives the satellite positioning signal, calculates the position data, time and motion status data of the mobile station itself, and is used to provide positioning information at any time; a base station with known three-dimensional coordinates is established on the ground, and the satellite positioning coordinate data is obtained. The "correction number" result after comparing the satellite positioning coordinate data with its own precise coordinate data is sent to the mobile station through a wireless communication link; without changing the current appearance and usage experience of the mobile phone, the invention relies on a high-precision positioning electronic terminal, uses Bluetooth and mobile phones to establish short-distance communication, and then uses the Beidou ground-based system to achieve wide-area real-time meter-level, decimeter-level, and centimeter-level positioning accuracy.

[0005] The high-precision positioning module integrated in the vehicle terminal device can continuously provide high-precision positioning data under standard working conditions, but the positioning accuracy will drop sharply in environments such as urban interchanges and tunnels where the signal is severely blocked or even disappears.

[0006] To solve the above problems, the present invention proposes a combined lane-level navigation method assisted by visual detection, which outputs lane position information through visual detection and provides positioning supplementary data to the lane-level navigation software of a mobile phone. Summary of the invention

[0007] In view of the above-mentioned problems existing in the prior art, the purpose of the present invention is to provide a combined lane-level navigation method assisted by visual detection. On the basis of the vehicle-mounted high-precision positioning electronic terminal provided by patent CN116659536A, a visual sensing device is added to detect the position of the lane line in front of the vehicle in real time, and calculate the lane position of the vehicle in real time. With the help of Bluetooth and mobile phones, short-distance communication is established, and the GNSS positioning information and visual detection lane information are packaged and sent to the navigation software on the mobile phone to realize full-course lane-level navigation.

[0008] The purpose of the present invention can be achieved by the following technical solutions:

[0009] A combined lane-level navigation method using visual detection assistance specifically comprises the following steps:

[0010] S1: Integrate a high-precision positioning module on the vehicle-mounted terminal device to form a mobile station;

[0011] S2: The high-precision positioning module receives satellite positioning signals and calculates the mobile station's own location data, time and motion status data to provide positioning information at any time;

[0012] S3: Establish a base station with known three-dimensional coordinates on the ground, obtain satellite positioning coordinate data, compare the satellite positioning coordinate data with its own precise coordinate data, and send the "correction number" result to the mobile station through a wireless communication link;

[0013] S4: Based on the base station data and its own data, the mobile station corrects the spatial error, tropospheric ionospheric error, etc. according to the differential data to obtain centimeter-level high-precision positioning;

[0014] S5: Integrate visual sensors and computing chips on the vehicle terminal device to perform real-time analysis on the collected video stream, detect the position of the lane line in front of the vehicle, and calculate the relative position of the vehicle in the lane;

[0015] S6: utilizing the continuous and non-mutated property of the vehicle position change, taking the vehicle position in the previous video frame as a reference, obtaining the sequence number of the vehicle's current lane when the vehicle changes lanes;

[0016] S7: Establish a data communication link through the Bluetooth of the mobile terminal and the Bluetooth module of the vehicle terminal device, package the high-precision positioning data and lane data of the vehicle terminal, and send it to the map navigation APP interface;

[0017] S8: After the mobile terminal receives high-precision satellite positioning information and lane position information, it combines the precise map data built into the map navigation APP to display high-precision lane-level navigation positioning results.

[0018] As a further preferred technical solution of the present invention, the high-precision positioning module adopts RTK technology to obtain GNSS data. The high-precision positioning module is composed of a high-precision positioning module chip, a high-precision positioning antenna, a short-range wireless communication module and a long-range wireless communication module.

[0019] As a further preferred technical solution of the present invention, the location data of the mobile station includes longitude information, latitude information and altitude information; the time and motion status data of the mobile station includes speed information and heading information.

[0020] As a further preferred technical solution of the present invention, the short-range wireless communication module is one of the communication link modules based on Bluetooth technology or wireless local area network technology;

[0021] The long-distance wireless communication module is one of the communication modules based on the fourth generation mobile communication technology or the fifth generation mobile communication technology.

[0022] As a further preferred technical solution of the present invention, the base station is set up on a reference point with known coordinates and continuously receives all visible GNSS satellite signals. The base station sends the measuring station coordinates, pseudorange observation values, carrier phase observation values, satellite tracking status and base station working status to the mobile phone terminal through the long-distance wireless communication module, which then forwards it to the high-precision positioning module of the mobile station through the short-distance wireless communication module.

[0023] As a further preferred technical solution of the present invention, the high-precision positioning module of the mobile station, while receiving the navigation satellite signal, forwards the ground-based differential data transmitted by the receiving base station through the mobile terminal, and calculates the three-dimensional coordinates of the mobile station and its accuracy in real time based on the principle of relative positioning.

[0024] As a further preferred technical solution of the present invention, in order to calculate the lane position information, the lane position coordinates are defined as follows:

[0025] ① Define the midpoint of the lower edge of the video image as M, indicating the center position of the vehicle, and define a one-dimensional coordinate axis along the lower edge of the video image, with the right side as the positive direction;

[0026] ② When the first frame is detected, several lane lines pass through the lower edge of the video image and the extension of the lower edge, forming several intersections. The intersection closest to the left side of point M is A, and the intersection closest to the right side of point M is B. When an intersection coincides with point M, the coincident intersection is defined as A, and the adjacent intersection on the right side is defined as B;

[0027] ③ Define the coordinate of point A as 0, the coordinate of point B as 1, the coordinate of the adjacent intersection point on the left side of point A as -1, the coordinate of the adjacent intersection point on the right side of point B as 2, and so on. The coordinate of point M can be calculated according to the linear ratio.

[0028] As a further preferred technical solution of the present invention, after the lane position coordinates are defined, the lane position information is calculated according to the following steps:

[0029] S1: Detect lane lines in the video frame and calculate the intersection of the extended lines of each lane line and the bottom edge of the video image;

[0030] S2: Calculate the distance LM from the nearest intersection point L to point M among all the intersection points on the left side of the midpoint M of the bottom edge of the video frame. If any intersection point coincides with M, the coincident intersection point is L, and LM is 0.

[0031] S3: Calculate the distance RM from the nearest intersection point R to point M among all the intersection points on the right side of the midpoint M of the bottom edge of the video frame;

[0032] S4: Calculate the relative position of the vehicle in the lane P = LM / (LM+RM);

[0033] S5: At the beginning of video detection, set the lane number I of the vehicle in the first frame of the video to 0; record the relative position P in the lane in the previous frame of the video 0 , when PP 0 >0.5, the vehicle is considered to be changing lanes to the left, and the lane number is reduced by one; when PP 0 When <-0.5, the vehicle is considered to be changing lanes to the right, and the lane number is increased by one;

[0034] S6: The vehicle's position P in the lane plus the lane number I to which the vehicle belongs is the lane position information: LR=P+I.

[0035] As a further preferred technical solution of the present invention, after the lane position coordinates are defined, the lane position information is calculated as relative position information. When the navigation software receives the satellite positioning information and the lane position information at the same time, the relative lane position can be converted into an absolute lane position according to the following steps:

[0036] S1: Use satellite positioning information for navigation when satellite positioning is good;

[0037] S2: When satellite positioning fails, record the absolute lane position LA in the navigation map corresponding to the satellite positioning information in the previous frame of data 0 , and record the lane relative position information LR uploaded by the device in the previous frame of data 0 , these two positions are used as reference values ​​for subsequent calculations;

[0038] S3: When satellite positioning fails continuously, the absolute lane position of the vehicle is calculated based on the lane position information LR uploaded by the device and the reference value recorded in S2: LA = LR + LA 0 -LR 0 , and use this as a basis for lane-level navigation;

[0039] S4: After the satellite signal is restored, continue to use satellite positioning information for navigation.

[0040] As a further preferred technical solution of the present invention, the vehicle-mounted terminal device is a driving recorder, and the hardware platform of the driving recorder integrates a high-precision positioning module, a Bluetooth module, a monocular camera and a video processing chip. The monocular camera of the driving recorder is used as a visual sensor to collect video, and the intelligent processing unit module provided by the video processing chip is used to perform video analysis and calculation to calculate the lane position information.

[0041] As described above, the combined lane-level navigation method using visual detection assistance provided by the present invention has the following beneficial effects:

[0042] 1. The present invention utilizes the above-mentioned combined lane-level navigation method assisted by visual detection. Compared with the prior art, in the case of partially blocked road sections and failure of satellite signals, the lane position information is obtained by visual detection as an auxiliary means, making the applicable scenarios of lane-level navigation more extensive.

[0043] 2. The present invention utilizes the above-mentioned combined lane-level navigation method assisted by visual detection. Compared with the mobile phone satellite navigation positioning method in the prior art, the present invention is more feasible in terms of implementation path. The vehicle-mounted positioning terminal is connected to the mobile phone APP map via Bluetooth. Without changing the appearance and experience of the mobile phone, high-precision road-level positioning and navigation can be achieved, which expands the use scenarios of the vehicle-mounted positioning terminal. At the same time, sub-meter lane navigation provided by the mobile phone navigation application can be obtained, so that the value of the latest lane-level navigation function and continuous high-precision map upgrades of the mobile phone can be better experienced.

[0044] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0046] Figure 1 It is a schematic block diagram of the combined novel high-performance lane-level navigation method of the present invention;

[0047] Figure 2 A schematic diagram of lane position coordinates defined in the present invention. DETAILED DESCRIPTION

[0048] The following is a description of the implementation of the present invention by means of specific embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

[0049] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions that the present invention can be implemented, so they have no substantial technical significance. Any modification of the structure, change in the proportional relationship, or adjustment of the size should still fall within the scope of the technical content disclosed by the present invention without affecting the effects that the present invention can produce and the purposes that can be achieved. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of description, and are not used to limit the scope of the implementation of the present invention. The change or adjustment of the relative relationship should also be regarded as the scope of the implementation of the present invention without substantial changes in the technical content. The specific structure can be described with reference to the drawings of the patent application.

[0050] The present invention provides a combined lane-level navigation method using visual detection assistance, see Figure 1 As shown, the specific steps include:

[0051] S1: Integrate a high-precision positioning module on the vehicle-mounted terminal device to form a mobile station;

[0052] S2: The high-precision positioning module receives satellite positioning signals and calculates the mobile station's own location data, time and motion status data to provide positioning information at any time;

[0053] S3: Establish a base station with known three-dimensional coordinates on the ground, obtain satellite positioning coordinate data, compare the satellite positioning coordinate data with its own precise coordinate data, and send the "correction number" result to the mobile station through a wireless communication link;

[0054] S4: Based on the base station data and its own data, the mobile station corrects the spatial error, tropospheric ionospheric error, etc. according to the differential data to obtain centimeter-level high-precision positioning;

[0055] S5: Integrate visual sensors and computing chips on the vehicle terminal device to perform real-time analysis on the collected video stream, detect the position of the lane line in front of the vehicle, and calculate the relative position of the vehicle in the lane;

[0056] S6: utilizing the continuous and non-mutated property of the vehicle position change, taking the vehicle position in the previous video frame as a reference, obtaining the sequence number of the vehicle's current lane when the vehicle changes lanes;

[0057] S7: Establish a data communication link through the Bluetooth of the mobile terminal and the Bluetooth module of the vehicle terminal device, package the high-precision positioning data and lane data of the vehicle terminal, and send it to the map navigation APP interface;

[0058] S8: After the mobile terminal receives high-precision satellite positioning information and lane position information, it combines the precise map data built into the map navigation APP to display high-precision lane-level navigation positioning results.

[0059] The high-precision positioning module adopts RTK technology to obtain GNSS data. The high-precision positioning module is composed of a high-precision positioning module chip, a high-precision positioning antenna, a short-range wireless communication module and a long-range wireless communication module.

[0060] The location data of the mobile station includes longitude information, latitude information and altitude information; the time and motion state data of the mobile station includes speed information and heading information.

[0061] The short-range wireless communication module is one of the communication link modules based on Bluetooth technology or Wireless Local Area Network (Wi-Fi) technology;

[0062] The long-distance wireless communication module is one of the communication modules based on the fourth generation mobile communication technology (4G LTE) or the fifth generation mobile communication technology (5G NR).

[0063] The base station is set up at a reference point with known coordinates and continuously receives all visible GNSS satellite signals. The base station sends the measuring station coordinates, pseudorange observation values, carrier phase observation values, satellite tracking status and base station working status to the mobile phone terminal through the long-distance wireless communication module, which then forwards it to the high-precision positioning module of the mobile station through the short-distance wireless communication module.

[0064] The high-precision positioning module of the mobile station receives the navigation satellite signal and forwards the ground-based differential data transmitted by the base station through the mobile terminal. According to the principle of relative positioning, the three-dimensional coordinates of the mobile station and its accuracy are calculated in real time.

[0065] To calculate the lane position information, the lane position coordinates are defined as follows:

[0066] ① Define the midpoint of the lower edge of the video image as M, indicating the center position of the vehicle, and define a one-dimensional coordinate axis along the lower edge of the video image, with the right side as the positive direction;

[0067] ② When the first frame is detected, several lane lines pass through the bottom edge of the video image and the extension of the bottom edge, forming several intersections, such as Figure 2 As shown in (a), let the intersection point closest to the left side of point M be A, and the intersection point closest to the right side of point M be B. When an intersection point coincides with point M, the coincident intersection point is defined as A, and the adjacent intersection point on the right side is defined as B.

[0068] ③ Such as Figure 2 As shown in (b), the coordinate of point A is defined as 0, the coordinate of point B is defined as 1, the coordinate of the adjacent intersection point on the left side of point A is -1, the coordinate of the adjacent intersection point on the right side of point B is 2, and so on. The coordinate of point M can be calculated according to the linear ratio.

[0069] After the lane position coordinates are defined, the lane position information is calculated according to the following steps:

[0070] S1: Detect lane lines in the video frame and calculate the intersection of the extended lines of each lane line and the bottom edge of the video image;

[0071] S2: Calculate the distance LM from the nearest intersection point L to point M among all the intersection points on the left side of the midpoint M of the bottom edge of the video frame. If any intersection point coincides with M, the coincident intersection point is L, and LM is 0.

[0072] S3: Calculate the distance RM from the nearest intersection point R to point M among all the intersection points on the right side of the midpoint M of the bottom edge of the video frame;

[0073] S4: Calculate the relative position of the vehicle in the lane P = LM / (LM+RM);

[0074] S5: At the beginning of video detection, set the lane number I of the vehicle in the first frame of the video to 0; record the relative position P0 in the lane in the previous frame of the video. When P-P0>0.5, it is considered that the vehicle changes lanes to the left, and the lane number decreases by one; when P-P0<-0.5, it is considered that the vehicle changes lanes to the right, and the lane number increases by one;

[0075] S6: The vehicle's position P in the lane plus the lane number I to which the vehicle belongs is the lane position information: LR=P+I.

[0076] After the lane position coordinates are defined, the lane position information is calculated as relative position information. When the navigation software receives satellite positioning information and lane position information at the same time, it can convert the relative lane position into the absolute lane position according to the following steps:

[0077] S1: Use satellite positioning information for navigation when satellite positioning is good;

[0078] S2: When satellite positioning fails, the absolute lane position LA0 in the navigation map corresponding to the satellite positioning information in the previous frame of data is recorded, and the lane relative position information LR0 uploaded by the device in the previous frame of data is recorded. These two positions are used as reference values ​​for subsequent calculations;

[0079] S3: When satellite positioning fails continuously, the absolute lane position of the vehicle LA=LR+LA0-LR0 is calculated based on the lane position information LR uploaded by the device and the reference value recorded in S2, and lane-level navigation is performed based on this;

[0080] S4: After the satellite signal is restored, continue to use satellite positioning information for navigation.

[0081] Specifically, the vehicle-mounted terminal device is a driving recorder, and the hardware platform of the driving recorder integrates a high-precision positioning module, a Bluetooth module, a monocular camera and a video processing chip. The monocular camera of the driving recorder is used as a visual sensor to collect video, and the intelligent processing unit (IPU) module provided by the video processing chip is used to perform video analysis and calculation, and the lane position information is calculated according to the above steps.

[0082] Compared with satellite navigation positioning of a single mobile phone device, the combined lane-level navigation method of the present invention is more practical. The vehicle-mounted positioning terminal connects to the mobile phone APP map via Bluetooth to achieve high-precision road-level positioning and navigation without affecting the appearance and experience of the mobile phone. This method expands the use scenarios of the vehicle-mounted positioning terminal, while providing sub-meter lane navigation provided by the mobile phone navigation application, allowing users to better experience the latest lane-level navigation function of the mobile phone and the value of continuous high-precision map upgrades. At the same time, the lane data provided by visual detection assistance can supplement the positioning data during the short period of time when the satellite signal is missing, making the application scope of lane-level navigation more extensive and more reliable.

[0083] High-precision navigation means that users can get sub-meter lane guidance provided by mobile navigation applications while driving. When the driver needs to change lanes, such as when approaching a turn or highway ramp, lane-level navigation will provide more detailed lane-level action guidance.

[0084] Lane-level navigation provides more detailed lane guidance than ordinary navigation in scenarios such as highways and elevated exits. If a lane is congested due to a traffic accident, lane-level navigation will identify it in advance and inform the user to avoid the abnormal lane so that they can pass quickly in other lanes.

[0085] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A combined lane-level navigation method using visual detection assistance, characterized in that: The specific steps include: S1: Integrate a high-precision positioning module on the vehicle-mounted terminal device to form a mobile station; S2: The high-precision positioning module receives satellite positioning signals and calculates the mobile station's own location data, time and motion status data to provide positioning information at any time; S3: Establish a base station with known three-dimensional coordinates on the ground, obtain satellite positioning coordinate data, compare the satellite positioning coordinate data with its own precise coordinate data, and send the "correction number" result to the mobile station through a wireless communication link; S4: Based on the base station data and its own data, the mobile station corrects the spatial error, tropospheric ionospheric error, etc. according to the differential data to obtain centimeter-level high-precision positioning; S5: Integrate visual sensors and computing chips on the vehicle terminal device to perform real-time analysis on the collected video stream, detect the position of the lane line in front of the vehicle, and calculate the relative position of the vehicle in the lane; S6: utilizing the continuous and non-mutated property of the vehicle position change, taking the vehicle position in the previous video frame as a reference, obtaining the sequence number of the vehicle's current lane when the vehicle changes lanes; S7: Establish a data communication link through the Bluetooth of the mobile terminal and the Bluetooth module of the vehicle terminal device, package the high-precision positioning data and lane data of the vehicle terminal, and send it to the map navigation APP interface; S8: After the mobile terminal receives high-precision satellite positioning information and lane position information, it combines the precise map data built into the map navigation APP to display high-precision lane-level navigation positioning results.

2. The combined lane-level navigation method using visual detection assistance according to claim 1, characterized in that: The high-precision positioning module adopts RTK technology to obtain GNSS data. The high-precision positioning module is composed of a high-precision positioning module chip, a high-precision positioning antenna, a short-range wireless communication module and a long-range wireless communication module.

3. The combined lane-level navigation method using visual detection assistance according to claim 1, characterized in that: The location data of the mobile station includes longitude information, latitude information and altitude information; the time and motion state data of the mobile station includes speed information and heading information.

4. The combined lane-level navigation method using visual detection assistance according to claim 2, characterized in that: The short-range wireless communication module is one of the communication link modules based on Bluetooth technology or wireless local area network technology; The long-distance wireless communication module is one of the communication modules based on the fourth generation mobile communication technology or the fifth generation mobile communication technology.

5. The combined lane-level navigation method using visual detection assistance according to claim 1, characterized in that: The base station is set up at a reference point with known coordinates and continuously receives all visible GNSS satellite signals. The base station sends the measuring station coordinates, pseudorange observation values, carrier phase observation values, satellite tracking status and base station working status to the mobile phone terminal through the long-distance wireless communication module, which then forwards it to the high-precision positioning module of the mobile station through the short-distance wireless communication module.

6. The combined lane-level navigation method using visual detection assistance according to claim 1, characterized in that: The high-precision positioning module of the mobile station receives the navigation satellite signal and forwards the ground-based differential data transmitted by the base station through the mobile terminal. According to the principle of relative positioning, the three-dimensional coordinates of the mobile station and its accuracy are calculated in real time.

7. The combined lane-level navigation method using visual detection assistance according to claim 1, characterized in that: To calculate the lane position information, the lane position coordinates are defined as follows: ① Define the midpoint of the lower edge of the video image as M, indicating the center position of the vehicle, and define a one-dimensional coordinate axis along the lower edge of the video image, with the right side as the positive direction; ② When the first frame is detected, several lane lines pass through the lower edge of the video image and the extension of the lower edge, forming several intersections. The intersection closest to the left side of point M is A, and the intersection closest to the right side of point M is B. When an intersection coincides with point M, the coincident intersection is defined as A, and the adjacent intersection on the right side is defined as B; ③ Define the coordinate of point A as 0, the coordinate of point B as 1, the coordinate of the adjacent intersection point on the left side of point A as -1, the coordinate of the adjacent intersection point on the right side of point B as 2, and so on. The coordinate of point M can be calculated according to the linear ratio.

8. The combined lane-level navigation method using visual detection assistance according to claim 7, characterized in that: After the lane position coordinates are defined, the lane position information is calculated according to the following steps: S1: Detect lane lines in the video frame and calculate the intersection of the extended lines of each lane line and the bottom edge of the video image; S2: Calculate the distance LM from the nearest intersection point L to point M among all the intersection points on the left side of the midpoint M of the bottom edge of the video frame. If any intersection point coincides with M, the coincident intersection point is L, and LM is 0. S3: Calculate the distance RM from the nearest intersection point R to point M among all the intersection points on the right side of the midpoint M of the bottom edge of the video frame; S4: Calculate the relative position of the vehicle in the lane P = LM / (LM+RM); S5: When the video detection starts, the lane number I to which the vehicle belongs in the first frame of the video is set to 0; Record the relative position P in the lane in the previous frame of video 0 , when PP 0 >0.5, the vehicle is considered to be changing lanes to the left, and the lane number is reduced by one; when PP 0 When <-0.5, the vehicle is considered to be changing lanes to the right, and the lane number is increased by one; S6: The vehicle's position P in the lane plus the lane number I to which the vehicle belongs is the lane position information: LR=P+I.

9. The combined lane-level navigation method using visual detection assistance according to claim 8, characterized in that: After the lane position coordinates are defined, the lane position information is calculated as relative position information. When the navigation software receives satellite positioning information and lane position information at the same time, it can convert the relative lane position into the absolute lane position according to the following steps: S1: Use satellite positioning information for navigation when satellite positioning is good; S2: When satellite positioning fails, record the absolute lane position LA in the navigation map corresponding to the satellite positioning information in the previous frame of data 0 , and record the lane relative position information LR uploaded by the device in the previous frame of data 0 , these two positions are used as reference values ​​for subsequent calculations; S3: When satellite positioning fails continuously, the absolute lane position of the vehicle is calculated based on the lane position information LR uploaded by the device and the reference value recorded in S2: LA = LR + LA 0 -LR 0 , and use this as a basis for lane-level navigation; S4: After the satellite signal is restored, continue to use satellite positioning information for navigation.

10. A combined lane-level navigation method using visual detection assistance according to any one of claims 1 to 9, characterized in that: The vehicle-mounted terminal device is a driving recorder, and the hardware platform of the driving recorder integrates a high-precision positioning module, a Bluetooth module, a monocular camera and a video processing chip. The monocular camera of the driving recorder is used as a visual sensor to collect video, and the intelligent processing unit module provided by the video processing chip is used to perform video analysis and calculation to calculate the lane position information.

Images