A combined lane-level navigation method using vision detection assistance

Abstract

This invention belongs to the field of lane navigation technology and discloses a combined lane-level navigation method using visual detection assistance. Specifically, it includes the following steps: S1: Integrating a high-precision positioning module into a mobile station on an in-vehicle terminal device; S2: The high-precision positioning module receives satellite positioning signals and calculates the mobile station's own position data, time, and motion status data to provide positioning information at any time; S3: Establishing a base station with known three-dimensional coordinates on the ground, acquiring satellite positioning coordinate data, and sending the "correction" result obtained by comparing the satellite positioning coordinate data with its own precise coordinate data to the mobile station via a wireless communication link. This invention uses visual detection to obtain lane position information in the event of satellite signal failure, serving as an auxiliary means to broaden the applicability of lane-level navigation.

Description

Technical Field

[0001] This invention belongs to the field of lane navigation technology, and more specifically, relates to a combined lane-level navigation method using visual detection assistance. Background Technology

[0002] With urban traffic congestion and a continuous increase in the number of cars, navigation has become an essential tool for modern 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] To achieve lane-level navigation, satellite navigation positioning accuracy must be stable within 1 meter. However, current smartphones use satellite carrier phase differential technology to receive GNSS signals. Because the phone's FPC antenna cannot stably perform differential calculations of fixed solutions, especially in complex urban road environments where the proportion of fixed solutions is even lower, it cannot meet the accuracy requirements of lane-level navigation. Even using ceramic antennas results in excessive size, which cannot meet the design requirements of mobile phones.

[0004] To address the aforementioned issues, patent application CN116659536A discloses a novel combined high-performance lane-level navigation method: a mobile station is formed by integrating a high-precision positioning module into an onboard terminal device; the high-precision positioning module receives satellite positioning signals and calculates the mobile station's own position data, time, and motion status data to provide positioning information at any time; a reference station with known three-dimensional coordinates is established on the ground to acquire satellite positioning coordinate data, and the "correction" result after comparing the satellite positioning coordinate data with its own precise coordinate data is sent to the mobile station via a wireless communication link; this invention, without changing the current appearance and user experience of mobile phones, relies on a high-precision positioning electronic terminal, establishes short-range communication with the mobile phone via Bluetooth, and then uses the BeiDou ground-based system to achieve wide-area real-time positioning accuracy at the meter, decimeter, and centimeter levels.

[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 with severe signal obstruction or even disappearance, such as urban overpasses and tunnels.

[0006] To address the aforementioned issues, this invention proposes a combined lane-level navigation method using visual detection assistance. Through visual detection, lane position information is output, providing supplementary positioning data to mobile lane-level navigation software. Summary of the Invention

[0007] In view of the above-mentioned problems of existing technologies, the purpose of this invention is to provide a combined lane-level navigation method with visual detection assistance. Based on the vehicle-mounted high-precision positioning electronic terminal provided in patent application 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 position of the vehicle in the lane in real time. Short-range communication is established with the mobile phone via Bluetooth to package and send the GNSS positioning information and the visually detected lane information to the navigation software on the mobile phone to achieve lane-level navigation throughout the entire journey.

[0008] The objective of this invention can be achieved through the following technical solutions:

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

[0010] S1: A mobile station is formed by integrating a high-precision positioning module into an on-board terminal device;

[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, acquire satellite positioning coordinate data, and send the "correction" result after comparing the satellite positioning coordinate data with its own precise coordinate data 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 spatial errors, tropospheric and ionospheric errors, etc., according to differential data to obtain centimeter-level high-precision positioning;

[0014] S5: Integrates visual sensors and computing chips into the vehicle terminal device to perform real-time analysis of 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-abrupt nature of vehicle position changes, and taking the vehicle's position in the preceding video frame as a reference, the current lane number of the vehicle is obtained when the vehicle changes lanes.

[0016] S7: Establishes a data communication link between the mobile terminal Bluetooth and the vehicle terminal device Bluetooth module, packages the high-precision positioning data and lane data of the vehicle terminal, and sends them to the map navigation APP interface;

[0017] S8: After receiving high-precision satellite positioning information and lane location information, the mobile terminal combines the accurate 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 acquire GNSS data. The high-precision positioning module consists 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 a communication link module 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 fourth-generation mobile communication technology or 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 station coordinates, pseudorange observations, carrier phase observations, satellite tracking status and base station working status to the mobile terminal through a long-range wireless communication module, and then the mobile terminal forwards them to the high-precision positioning module of the mobile station through a short-range wireless communication module.

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

[0024] As a further preferred technical solution of the present invention, lane position coordinates are defined in the following manner for calculating lane position information:

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

[0026] ② During the initial first frame detection, several lane lines pass through the bottom edge of the video image and its extension, forming several intersection points. Let A be the intersection point closest to point M on the left, and B be the intersection point closest to point M on the right. When an intersection point coincides with point M, the coinciding intersection point is defined as A, and the intersection point adjacent to it on the right is defined as B.

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

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

[0029] S1: Detect lane lines in video frames and calculate the intersection of the extension 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 intersection points to the left of the midpoint M of the bottom edge of the video frame. If there is an intersection point that coincides with M, then the coinciding intersection point is L, and LM is 0.

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

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

[0033] S5: At the start 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 within the lane in the previous frame of the video. 0 When PP 0 When PP > 0.5, it is considered that the vehicle is changing lanes to the left, and the lane number is decreased by one; when PP 0 When the value is less than -0.5, it is considered that the vehicle is changing lanes to the right, and the lane number is incremented by one.

[0034] S6: The lane position information is obtained by adding the vehicle's position P within the lane to the lane number I: LR = P + I.

[0035] As a further preferred technical solution of the present invention, after defining the lane position coordinates, the lane position information is calculated as relative position information. When the navigation software receives both satellite positioning information and lane position information simultaneously, it can convert the relative lane position into an absolute lane position according to the following steps:

[0036] S1: Navigation is performed using satellite positioning information when satellite positioning is good;

[0037] S2: When satellite positioning fails, record the absolute lane position (LA) on the navigation map corresponding to the satellite positioning information in the previous frame of data. 0 And record the lane relative position information uploaded by the device in the previous frame of data (LR). 0 These two positions serve as reference values ​​for subsequent calculations;

[0038] S3: When satellite positioning continues to fail, calculate the vehicle's absolute lane position LA = LR + LA based on the lane position information LR uploaded by the device and the reference value recorded in S2. 0 -LR 0 Based on this, lane-level navigation is performed;

[0039] S4: Once satellite signals are restored, continue using satellite positioning information for navigation.

[0040] As a further preferred technical solution of the present invention, the vehicle terminal device is a dashcam. The hardware platform of the dashcam integrates a high-precision positioning module, a Bluetooth module, a monocular camera, and a video processing chip. The monocular camera of the dashcam acts as a visual sensor to collect video, and the intelligent processing unit module provided by the video processing chip performs 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 with visual detection assistance. Compared with the prior art, in the case of partially obscured road sections and satellite signal failure, lane position information is obtained by visual detection as an auxiliary means, making the applicable scenarios of lane-level navigation more extensive.

[0043] 2. This invention utilizes the aforementioned combined lane-level navigation method with visual detection assistance. Compared with existing mobile phone satellite navigation positioning methods, this invention is more feasible in terms of implementation path. The vehicle positioning terminal connects to the mobile phone APP map via Bluetooth, achieving high-precision road-level positioning and navigation without changing the appearance and user experience of the mobile phone. This expands the application scenarios of the vehicle positioning terminal and allows users to obtain sub-meter-level lane navigation provided by mobile phone navigation applications, better experiencing the latest lane-level navigation functions and the value of continuous high-precision map upgrades.

[0044] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0045] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

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

[0047] Figure 2 This is a schematic diagram of the lane position coordinates defined in this invention. Detailed Implementation

[0048] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification.

[0049] It should be understood that the structures, proportions, sizes, etc., depicted in the accompanying drawings of this specification are merely for illustrative purposes to aid those skilled in the art and are not intended to limit the scope of the invention. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effectiveness and purpose of the invention, should still fall within the scope of the technical content disclosed in this invention. Furthermore, the terms such as "upper," "lower," "left," "right," "middle," and "one" used in this specification are merely for clarity and are not intended to limit the scope of the invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention. Specific structures can be described with reference to the accompanying drawings of the patent application.

[0050] This invention provides a combined lane-level navigation method using visual detection assistance. Please refer to [link / reference]. Figure 1 As shown, the specific steps include:

[0051] S1: A mobile station is formed by integrating a high-precision positioning module into an on-board terminal device;

[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, acquire satellite positioning coordinate data, and send the "correction" result after comparing the satellite positioning coordinate data with its own precise coordinate data 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 spatial errors, tropospheric and ionospheric errors, etc., according to differential data to obtain centimeter-level high-precision positioning;

[0055] S5: Integrates visual sensors and computing chips into the vehicle terminal device to perform real-time analysis of 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-abrupt nature of vehicle position changes, and taking the vehicle's position in the preceding video frame as a reference, the current lane number of the vehicle is obtained when the vehicle changes lanes.

[0057] S7: Establishes a data communication link between the mobile terminal Bluetooth and the vehicle terminal device Bluetooth module, packages the high-precision positioning data and lane data of the vehicle terminal, and sends them to the map navigation APP interface;

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

[0059] The high-precision positioning module uses RTK technology to acquire GNSS data. The high-precision positioning module consists 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, latitude, and altitude information; the time and motion status data of the mobile station includes speed and heading information.

[0061] The short-range wireless communication module is a communication link module based on either Bluetooth technology or Wi-Fi technology;

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

[0063] The base station is set up on a reference point with known coordinates and continuously receives signals from all visible GNSS satellites. The base station sends the station coordinates, pseudorange observations, carrier phase observations, satellite tracking status, and base station operating status to the mobile terminal via a long-range wireless communication module, which then forwards them to the high-precision positioning module of the mobile station via a short-range wireless communication module.

[0064] The high-precision positioning module of the mobile station receives navigation satellite signals and forwards ground-based differential data transmitted from the base station through the mobile terminal. Based on the principle of relative positioning, it calculates the three-dimensional coordinates and accuracy of the mobile station in real time.

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

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

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

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

[0069] After defining the lane position coordinates, calculate the lane position information according to the following steps:

[0070] S1: Detect lane lines in video frames and calculate the intersection of the extension 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 intersection points to the left of the midpoint M of the bottom edge of the video frame. If there is an intersection point that coincides with M, then the coinciding intersection point is L, and LM is 0.

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

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

[0074] S5: At the start 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 within the lane in the previous frame of the video. When P-P0>0.5, it is considered that the vehicle is changing lanes to the left, and the lane number is decremented by one; when P-P0<-0.5, it is considered that the vehicle is changing lanes to the right, and the lane number is incremented by one.

[0075] S6: The lane position information is obtained by adding the vehicle's position P within the lane to the lane number I: LR = P + I.

[0076] After defining the lane position coordinates, the lane position information is calculated as relative position information. When navigation software receives both satellite positioning information and lane position information simultaneously, it can convert the relative lane position into an absolute lane position by following these steps:

[0077] S1: Navigation is performed using satellite positioning information when satellite positioning is good;

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

[0079] S3: When satellite positioning continues to fail, calculate the vehicle's absolute lane position LA = LR + LA0 - LR0 based on the lane position information LR uploaded by the device and the reference value recorded in S2, and use this as the basis for lane-level navigation;

[0080] S4: Once satellite signals are restored, continue using satellite positioning information for navigation.

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

[0082] Compared to satellite navigation and positioning on a single mobile device, the combined lane-level navigation method of this invention is more practical. The vehicle-mounted positioning terminal connects to a mobile app map via Bluetooth to achieve high-precision road-level positioning and navigation without affecting the phone's appearance or user experience. This method expands the application scenarios of vehicle-mounted positioning terminals and provides sub-meter-level lane navigation offered by mobile navigation applications, allowing users to better experience the latest lane-level navigation functions and the value of continuous high-precision map upgrades. Simultaneously, lane data provided by visual detection assistance can supplement positioning data during brief periods of satellite signal loss, making lane-level navigation more widely applicable and more reliable.

[0083] High-precision navigation means that users can receive sub-meter level lane navigation as provided by their mobile navigation apps while driving. When drivers need to change lanes, such as when approaching a turning intersection or highway ramp, lane-level navigation provides more precise lane-level action guidance.

[0084] Lane-level navigation provides more precise lane guidance than regular navigation in scenarios such as highways and elevated road 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 quickly pass through other lanes.

[0085] It will be apparent to those skilled in the art that the present 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 its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A combined lane-level navigation method using visual detection assistance, characterized in that, Specifically, the following steps are included: S1: A mobile station is formed by integrating a high-precision positioning module into an on-board terminal device; 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, acquire satellite positioning coordinate data, and send the "correction" result after comparing the satellite positioning coordinate data with its own precise coordinate data to the mobile station through a wireless communication link; S4: Based on the base station data and its own data, the mobile station corrects spatial errors and tropospheric ionospheric errors according to differential data to obtain centimeter-level high-precision positioning; S5: Integrates visual sensors and computing chips into the vehicle terminal device to perform real-time analysis of 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-abrupt nature of vehicle position changes, and taking the vehicle's position in the preceding video frame as a reference, the current lane number of the vehicle is obtained when the vehicle changes lanes. S7: Establishes a data communication link between the mobile terminal Bluetooth and the vehicle terminal device Bluetooth module, packages the high-precision positioning data and lane data of the vehicle terminal, and sends them to the map navigation APP interface; S8: After receiving high-precision satellite positioning information and lane location information, the mobile terminal combines the accurate map data built into the map navigation APP to display high-precision lane-level navigation positioning results; The aforementioned visual detection-assisted combined lane-level navigation method defines lane position coordinates as follows for calculating lane position information: ① Define the midpoint of the bottom edge of the video image as M, representing the center position of the vehicle, and define a one-dimensional coordinate axis along the bottom edge of the video image, with the right side as the positive direction; ② During the initial first frame detection, several lane lines pass through the bottom edge of the video image and its extension, forming several intersection points. Let A be the intersection point closest to point M on the left, and B be the intersection point closest to point M on the right. When an intersection point coincides with point M, the coinciding intersection point is defined as A, and the intersection point adjacent to it on the right is defined as B. ③ Define the coordinates of point A as 0, define the coordinates of point B as 1, define the coordinates of the adjacent intersection point to the left of point A as -1, define the coordinates of the adjacent intersection point to the right of point B as 2, and so on. The coordinates of point M are calculated according to a linear ratio. The aforementioned visual detection-assisted combined lane-level navigation method, after defining lane position coordinates, calculates lane position information according to the following steps: S1: Detect lane lines in video frames and calculate the intersection of the extension 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 intersection points to the left of the midpoint M of the bottom edge of the video frame. If there is an intersection point that coincides with M, then the coinciding intersection point is L, and LM is 0. S3: Calculate the distance RM from point M to the nearest intersection point R among all intersection points to the right of the midpoint M of the bottom edge of the video frame; S4: Calculate the vehicle's relative position within the lane: P = LM / (LM + RM); S5: At the start 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 within the lane in the previous frame of the video. 0 When PP 0 When PP > 0.5, it is considered that the vehicle is changing lanes to the left, and the lane number is decreased by one; when PP 0 When the value is less than -0.5, it is considered that the vehicle is changing lanes to the right, and the lane number is incremented by one. S6: The lane position information is obtained by adding the vehicle's position P within the lane to the lane number I: LR = P + I.

2. The combined lane-level navigation method using visual detection assistance according to claim 1, characterized in that, The high-precision positioning module uses RTK technology to acquire GNSS data. The high-precision positioning module consists 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, latitude, and altitude information; the time and motion status data of the mobile station includes speed 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 fourth-generation mobile communication technology or 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 on a reference point with known coordinates and continuously receives signals from all visible GNSS satellites. The base station sends the station coordinates, pseudorange observations, carrier phase observations, satellite tracking status, and base station operating status to the mobile terminal via a long-range wireless communication module, which then forwards them to the high-precision positioning module of the mobile station via a short-range 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 navigation satellite signals and forwards ground-based differential data transmitted from the base station through the mobile terminal. Based on the principle of relative positioning, it calculates the three-dimensional coordinates and accuracy of the mobile station in real time.

7. The combined lane-level navigation method using visual detection assistance according to claim 1, characterized in that, After defining the lane position coordinates, the lane position information is calculated as relative position information. When the navigation software receives both satellite positioning information and lane position information simultaneously, it converts the relative lane position into an absolute lane position according to the following steps: S1: Navigation is performed using satellite positioning information when satellite positioning is good; S2: When satellite positioning fails, record the absolute lane position (LA) on the navigation map corresponding to the satellite positioning information in the previous frame of data. 0 And record the lane relative position information uploaded by the device in the previous frame of data (LR). 0 These two positions serve as reference values ​​for subsequent calculations; S3: When satellite positioning continues to fail, calculate the vehicle's absolute lane position LA = LR + LA based on the lane position information LR uploaded by the device and the reference value recorded in S2. 0 -LR 0 Based on this, lane-level navigation is performed; S4: Once satellite signals are restored, continue using satellite positioning information for navigation.

8. A combined lane-level navigation method using visual detection assistance according to any one of claims 1-7, characterized in that, The in-vehicle terminal device is a dashcam. The hardware platform of the dashcam integrates a high-precision positioning module, a Bluetooth module, a monocular camera, and a video processing chip. The monocular camera of the dashcam acts as a visual sensor to collect video data, and the intelligent processing unit module provided by the video processing chip performs video analysis and calculation to determine the lane position information.

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