Navigation guiding method and related device

Abstract

The invention discloses a navigation guidance method and a related device. The method comprises the following steps: acquiring navigation data and pose data of a vehicle; a target driving route of the vehicle is determined based on the navigation data and the pose data, multiple intersections are included in a related area range of the target driving route, and the target driving route comprises a first intersection in the multiple intersections; and generating a navigation guidance graph based on the target driving route, wherein the navigation guidance graph is used for being projected in an actual driving environment to indicate the first intersection in the target driving route. According to the method, finer vehicle positioning and driving route planning analysis are performed based on the navigation data and the pose data, and the navigation guidance graph is generated to guide the user to the intersection related to the driving route in the future preset driving distance, so that the user can be prevented from walking at a wrong intersection in a scene with multiple intersections, and therefore, on one hand, the user experience is improved. The intelligence of the navigation function of the vehicle can be improved, and the extreme experience of intelligent driving and safe driving is created.

Description

Technical Field

[0001] The present application relates to the field of vehicles, and in particular to a navigation guidance method and related devices. Background Art

[0002] With the development of science and technology, vehicles have become an essential means of transportation for people's daily travel, and can even be expanded into the third space of daily life. Users' requirements for the intelligence of vehicles are becoming higher and higher.

[0003] With the development of navigation technology, navigation function has become one of the important functions of vehicles, and it can also be used as a reference for evaluating the intelligence of vehicles. Currently known navigation technology can provide road-level navigation guidance. In order to meet users' demand for higher intelligence of vehicles, the intelligence of vehicle navigation function still needs to be further improved. Summary of the invention

[0004] The present application provides a navigation guidance method and related devices, in order to improve the intelligence of the navigation function of a vehicle.

[0005] In the first aspect, the present application provides a navigation guidance method, which is applied to a vehicle. The method can be executed by the vehicle or a navigation guidance device deployed on the vehicle, or by a component configured inside the vehicle, such as a processor, a chip, or a chip system, or by a logic module or software having some or all vehicle functions. The present application does not limit this.

[0006] Exemplarily, the method includes: acquiring navigation data and vehicle posture data; determining a target driving route of the vehicle based on the navigation data and the posture data, wherein a relevant area of ​​the target driving route includes multiple intersections, and the target driving route includes a first intersection among the multiple intersections; generating a navigation guidance graphic based on the target driving route, wherein the navigation guidance graphic is used to be projected into an actual driving environment to indicate the first intersection in the target driving route.

[0007] Based on the above scheme, more precise vehicle positioning and route planning analysis are performed based on navigation data and posture data, and navigation guidance graphics are generated to guide users to the intersections involved in the route within the future preset driving distance. This can prevent users from going to the wrong intersection in scenarios with multiple intersections. In this way, the intelligence of the vehicle's navigation function can be improved, providing users with higher navigation accuracy and better user interaction logic, creating the ultimate experience of smart driving and safe driving.

[0008] In combination with the first aspect, in some possible implementations, the target driving route of the vehicle is determined based on the navigation data and the posture data, including: determining road data of the target section based on the posture data and the navigation data, the target section including the corresponding point on the section where the vehicle is currently located and the section within a preset driving distance in the future of the corresponding point; determining the target driving route based on the posture data, the vehicle kinematic model and the road data of the target section.

[0009] In combination with the first aspect, in some possible implementations, the target driving route is determined based on the posture data, the vehicle kinematic model and the road data of the target section, including: determining multiple driving routes based on the posture data and the road data corresponding to the target section; determining multiple candidate driving routes from the multiple driving routes based on the vehicle kinematic model, each of the multiple candidate driving routes conforming to the vehicle kinematic model; and determining the target driving route from the multiple candidate driving routes.

[0010] In this implementation, on the one hand, it does not rely on lane line detection, which can reduce the dependence on lane line data; on the other hand, it does not rely on data such as steering wheel angles, but instead uses the road shape (Link) points of the real road in the navigation data as prior information. Therefore, the generated target driving route can reflect the user's driving intention.

[0011] In combination with the first aspect, in some possible implementations, the method further includes: utilizing a lighting device of the vehicle to project the navigation guidance graphic, so as to display the navigation guidance graphic on the ground in an actual driving environment.

[0012] Especially in scenes such as multi-fork intersections, accurate navigation guidance can be made by controlling the navigation guidance image projected by the lighting device. It has strong navigation guidance and can control the light shape of the light carpet to achieve the purpose of enhanced directionality.

[0013] In combination with the first aspect, in some possible implementations, the navigation guidance graphic includes an icon for indicating a driving direction, and the driving direction includes left turn, straight go, right turn, left front, right front, or U-turn.

[0014] In combination with the first aspect, in some possible implementations, the icon is displayed in an illumination area illuminated by the lighting device on the ground.

[0015] In combination with the first aspect, in some possible implementations, the icon is displayed in the shape of a lighting area illuminated by the lighting device on the ground.

[0016] In combination with the first aspect, in some possible implementations, the method further includes: projecting the navigation guidance graphic using a head-up display device to display the navigation guidance graphic on a front windshield of the vehicle.

[0017] In combination with the first aspect, in some possible implementations, the navigation data comes from an onboard navigation module of the vehicle, or the navigation data comes from a navigation module on an external device.

[0018] In combination with the first aspect, in some possible implementations, the posture data comes from the vehicle's onboard navigation module or the vehicle's assisted driving system; or, the posture data comes from an external device; or, the posture data is calculated by itself.

[0019] In combination with the first aspect, in some possible implementations, when the posture data is calculated by itself, the method further includes: calculating the posture data based on sensor data of the vehicle, wherein the sensor data includes positioning data and inertial measurement unit (IMU) data.

[0020] In combination with the first aspect, in some possible implementations, obtaining navigation data and vehicle posture data is triggered when environmental factor information in the actual driving environment meets preset conditions; or, obtaining navigation data and vehicle posture data is triggered when a trigger operation is detected.

[0021] Environmental factor information includes, but is not limited to, information on factors such as light intensity, visibility, and texture; preset conditions include, but are not limited to: light intensity is less than or equal to a preset light intensity threshold, or visibility is less than or equal to a preset visibility threshold, or texture intensity is less than or equal to a preset texture intensity threshold, etc., which are not limited in the embodiments of the present application. In other words, the navigation guidance method provided by the present application can be triggered to start when the environmental factor information in the actual driving environment meets the preset conditions.

[0022] The trigger operation includes but is not limited to: voice control operation, gesture control operation, user interface operation or key operation, etc. That is, the navigation guidance method provided in the present application can be triggered to start when it is detected that the user has performed a trigger operation on the vehicle or the navigation guidance device, etc.

[0023] In a second aspect, the present application provides a lighting device, which includes a projection module, which can be used to project a navigation guidance graphic. The navigation guidance graphic is used to be projected in an actual driving environment to indicate a first intersection among multiple intersections included in a relevant area of ​​a target driving route, and the target driving route includes the first intersection.

[0024] In combination with the second aspect, in some possible implementations, the lighting device also includes a control module, which can be used to obtain navigation data and vehicle posture data; determine the target driving route based on the navigation data and the posture data; and generate the navigation guidance graphic based on the target driving route.

[0025] That is to say, the lighting device can be used to implement the method in the above-mentioned first aspect and any possible implementation manner of the first aspect.

[0026] In a third aspect, the present application provides a head-up display device, which includes a projection module, which can be used to project a navigation guidance graphic, and the navigation guidance graphic is used to be projected in an actual driving environment to indicate a first intersection among multiple intersections included in a relevant area of ​​a target driving route, and the target driving route includes the first intersection.

[0027] In combination with the third aspect, in some possible implementations, the head-up display device also includes a control module, which can be used to obtain navigation data and vehicle posture data; determine the target driving route based on the navigation data and the posture data; and generate the navigation guidance graphic based on the target driving route.

[0028] That is to say, the head-up display device can be used to implement the method in the above-mentioned first aspect and any possible implementation manner of the first aspect.

[0029] In a fourth aspect, the present application provides a navigation guidance device, which can be used to implement the method in the first aspect and any possible implementation of the first aspect. The vehicle includes a corresponding module for executing the above method. The module included in the vehicle can be implemented by software and / or hardware.

[0030] In a fifth aspect, the present application provides a navigation guidance device, which includes at least one processor and at least one communication interface. The processor is coupled to the communication interface and can be used to execute a program to implement the navigation guidance method in the first aspect and any possible implementation of the first aspect.

[0031] Optionally, the navigation guidance device also includes a memory, and the processor is coupled to the memory.

[0032] In a sixth aspect, the present application provides a vehicle, which may include one or more of the above-mentioned lighting device, head-up display device or navigation guidance device to implement the method in the above-mentioned first aspect and any possible implementation method of the first aspect.

[0033] In a seventh aspect, the present application provides a vehicle, which can be used to implement the method in the first aspect and any possible implementation of the first aspect. The vehicle includes a corresponding module for executing the above method. The module included in the vehicle can be implemented by software and / or hardware.

[0034] In an eighth aspect, the present application provides a vehicle, the vehicle comprising at least one processor and at least one communication interface. The processor is coupled to the communication interface and can be used to execute a program to implement the navigation guidance method in the first aspect and any possible implementation of the first aspect.

[0035] Optionally, the vehicle further includes a memory, and the processor is coupled to the memory.

[0036] In a ninth aspect, the present application provides a chip system comprising at least one processor for supporting the implementation of the functions involved in the above-mentioned first aspect and any possible implementation method of the first aspect, for example, processing the data involved in the above-mentioned method, etc.

[0037] In one possible design, the chip system also includes a memory, which is used to store program instructions and data, and the memory is located inside or outside the processor.

[0038] The chip system may be composed of the chip, or may include the chip and other discrete devices.

[0039] In the tenth aspect, a readable storage medium is provided, on which a program (also referred to as code, or instruction) is stored. When the program is run, the method in the above-mentioned first aspect and any possible implementation of the first aspect is executed.

[0040] In an eleventh aspect, a program product is provided, comprising: a program (also referred to as code, or instruction), wherein when the program is run, the method in the above-mentioned first aspect and any possible implementation manner of the first aspect is executed.

[0041] It should be understood that the second to eleventh aspects of the present application correspond to the technical solutions of the first aspect of the present application, and the beneficial effects achieved by each aspect and the corresponding feasible implementation methods are similar and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 is a schematic block diagram of a navigation guidance device provided in an embodiment of the present application;

[0043] Figure 2 is a schematic flow chart of a navigation guidance method provided in an embodiment of the present application;

[0044] Figure 3 This is a schematic diagram of the relevant area range of the target driving route provided in the embodiment of the present application;

[0045] Figure 4 is another schematic block diagram of the navigation guidance device provided in an embodiment of the present application;

[0046] Figure 5 is a schematic flowchart of performing posture estimation provided in an embodiment of the present application;

[0047] Figure 6 is a schematic flow chart of road matching provided in an embodiment of the present application;

[0048] Figure 7 is a schematic flow chart of route planning provided in an embodiment of the present application;

[0049] Figure 8 is a schematic diagram of multiple candidate routes provided in an embodiment of the present application;

[0050] Fig. 9 This is a schematic diagram of projecting a navigation guidance graphic on the ground using a lighting device provided in an embodiment of the present application;

[0051] Fig.10 This is another schematic diagram of projecting a navigation guidance graphic on the ground using a lighting device provided in an embodiment of the present application;

[0052] Fig.11 It is a schematic diagram of projecting a navigation guidance graphic onto a front windshield using a head-up display device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0053] The technical solution in this application will be described below in conjunction with the accompanying drawings.

[0054] First, in the embodiments of the present application, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a device, system, product or equipment comprising a series of modules, modules or units is not necessarily limited to those modules, modules or units clearly listed, but may include other modules, modules or units that are not clearly listed or inherent to these devices, systems, products or equipment.

[0055] Second, in the embodiments of the present application, words such as "exemplarily" and "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "exemplarily" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplarily" or "for example" is intended to present related concepts in a specific way.

[0056] Third, in the present application, "when...", "in the case of...", "if" and "if" all mean that the device will take corresponding actions under certain objective circumstances, but do not limit the time, nor do they require that the device must have a judgment action when it is implemented, nor do they mean that there are other limitations.

[0057] Fourth, in the embodiments of the present application, "and / or" describes the association relationship of the associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist at the same time, and B exists alone, where A and B may be singular or plural. The character " / " generally indicates that the associated objects before and after are in an "or" relationship, but does not exclude the situation where the associated objects before and after are in an "and" relationship. The specific meaning can be understood in conjunction with the context.

[0058] For ease of understanding, the terms involved in this application are briefly explained below.

[0059] 1. Navigation data: In this application, navigation data refers to data used to describe the road shape involved in road planning in the navigation system.

[0060] 2. IMU: It is a device that measures the three-axis attitude angle (or angular rate) and acceleration of an object. Generally, an IMU contains three single-axis accelerometers and three single-axis gyroscopes. The accelerometer detects the acceleration signal of the object in the independent three-axis of the carrier coordinate system, while the gyroscope detects the angular velocity signal of the carrier relative to the navigation coordinate system, measuring the angular velocity and acceleration of the object in three-dimensional space.

[0061] 3. Four degrees of freedom (4DoF) posture data: It can refer to the degrees of freedom of movement along the three rectangular coordinate axes of x, y, and z, and the degrees of freedom of rotation around one of the coordinate axes (i.e., the heading angle). It can be referred to as four degrees of freedom (4DoF) for short, and this application does not impose any limitation on this.

[0062] 4. Six degrees of freedom (6DoF) posture data: Physics has six degrees of freedom in space, namely the freedom of movement along the three rectangular coordinate axes of x, y, and z, and the freedom of rotation around these three coordinate axes. It can be referred to as six degrees of freedom (6DoF), and this application does not make any limitation on this.

[0063] 5. Vehicle kinematic model: A digital model is established for the vehicle's motion. Based on the vehicle's geometric structure and motion principles, the vehicle's motion state in space is described to satisfy the vehicle's kinematic constraints.

[0064] With the development of science and technology, vehicles have become an essential means of transportation for people's daily travel, and can even be expanded into the third space of daily life. Users' requirements for the intelligence of vehicles are becoming higher and higher.

[0065] With the development of navigation technology, navigation function has become one of the important functions of vehicles, and it can also be used as a reference for evaluating the intelligence of vehicles. Currently known navigation technology can provide road-level navigation guidance. In order to meet users' demand for higher intelligence of vehicles, the intelligence of vehicle navigation function still needs to be further improved.

[0066] Based on the above problems, the present application provides a navigation guidance method and related devices, which perform more precise vehicle positioning and route planning analysis based on navigation data and posture data, and generate navigation guidance graphics to guide users to the intersections involved in the driving route within a preset driving distance in the future, so as to avoid users from going to the wrong intersection in scenarios with multiple intersections. In this way, the intelligence of the vehicle's navigation function can be improved, and users can be provided with higher navigation accuracy and better user interaction logic, creating the ultimate experience of smart driving and safe driving.

[0067] Before describing the navigation guidance method provided by this application in detail, Figure 1 A navigation guidance device suitable for the navigation guidance method provided in this application is described.

[0068] Figure 1 It is a schematic block diagram of a navigation guidance device provided in an embodiment of the present application.

[0069] like Figure 1 As shown, the navigation guidance device 100 includes a data acquisition module 101, a calculation module 102, a composition module 103 and the like.

[0070] The data acquisition module 101 may be used to acquire navigation data and vehicle position data.

[0071] Navigation data may include but are not limited to Link point data and intersection turn data. It is understood that a Link point generally refers to a connection or path between two nodes. For road network data, each intersection is regarded as a node, and the roads connecting each intersection are regarded as Link points. Intersection turn data may refer to data indicating which intersection to go straight through, which intersection to turn right, which intersection to turn left, or which intersection to turn around in the navigation planning path.

[0072] As an example but not limitation, for example, the data acquisition module 101 may acquire navigation data from a navigation map end (eg, a server end of a navigation application).

[0073] In a possible implementation, a vehicle navigation module is deployed on the vehicle or a navigation application is installed, that is, the data acquisition module 101 can obtain navigation data from the vehicle navigation module or navigation application, that is, obtain navigation data from the server side of the vehicle navigation module or navigation application.

[0074] In another possible implementation, the data acquisition module 101 can acquire navigation data from a navigation module of an external device, and the external device can be, for example, a mobile phone, a tablet computer, a smart watch, a laptop computer, or other vehicle-mounted device with a navigation application installed or a navigation module deployed. The external device can acquire navigation data from the server of the navigation application based on the installed navigation application or the deployed navigation module, and further, the data acquisition module 101 can acquire navigation data from the external device of the vehicle.

[0075] The posture data may include but is not limited to 4DoF posture data or 6DoF posture data. The posture data may come from the vehicle's onboard navigation module or the vehicle's assisted driving system; or, the posture data may come from an external device; or, the posture data is calculated by itself. In one possible implementation, the data acquisition module 101 can calculate the posture data based on the sensor data of the vehicle. The sensor data may include but is not limited to positioning data and IMU data, wherein the positioning data may include but is not limited to positioning data based on the global positioning system (GPS), and / or, positioning data based on Beidou satellites. IMU data may include data output by the IMU.

[0076] The navigation guidance device 100 may also include a data transmission module, which can be used to upload and send data to ensure the efficiency of data link transmission, and can assist the data acquisition module to more efficiently acquire navigation data and vehicle sensor data.

[0077] The calculation module 102 can be used to determine the target driving route of the vehicle within a preset driving distance in the future based on the navigation data and posture data acquired by the data acquisition module 101. For example, the calculation module 102 can be used to calculate and solve algorithm modules including but not limited to posture estimation, road matching or vehicle kinematic modeling. For a detailed description, please refer to the following Figure 6 For the sake of brevity, the relevant description is not repeated here.

[0078] The mapping module 103 may be used to generate a navigation guidance graphic based on the target driving route output by the calculation module 102 , and the navigation guidance graphic is used to indicate the target driving route.

[0079] In a possible implementation, the navigation guidance device 100 may further include an optical projection module 104. The optical projection module 104 may be used to project the navigation guidance graphic generated by the composition module 103. In a possible implementation, the optical projection module 104 may project the navigation guidance graphic using the lighting device of the vehicle to display the navigation guidance graphic on the ground in the actual driving environment. In another possible implementation, the optical projection module 104 may project the navigation guidance graphic using a head-up display device to display the navigation guidance graphic on the front windshield of the vehicle.

[0080] The following combination Figure 2 The navigation guidance method provided by this application is described.

[0081] like Figure 2 The method 200 shown may include steps 210 to 230. The method 200 is applied to a vehicle. The method 200 may be executed by the vehicle or a navigation guidance device, lighting device, or head-up display device deployed on the vehicle, or by a component configured inside the vehicle, such as a processor, chip, or chip system, or by a logic module or software having some or all vehicle functions. This application does not limit this. The following describes each step in the method 200 in detail.

[0082] Figure 2 It is a schematic flowchart of the navigation guidance method provided in an embodiment of the present application.

[0083] Step 210: Obtain navigation data and vehicle position data.

[0084] As mentioned above, in the present application, navigation data refers to data used to describe the road shape involved in road planning in the navigation system. Navigation data may include, but is not limited to, Link point data and intersection turn data, etc. Posture data may include, but is not limited to, 4DoF posture data or 6DoF posture data. As an example and not a limitation, 4DoF posture data may include, but is not limited to, coordinate data (x, y, z) representing the position information of the vehicle, and a heading angle (e.g., yaw) used to represent the posture of the vehicle. 6DoF posture data may include, but is not limited to, coordinate data (x, y, z) used to represent the position information of the vehicle, and posture data (roll, pitch, yaw) used to represent the posture (or orientation) of the vehicle.

[0085] For example, a vehicle or a navigation guidance device may acquire navigation data.

[0086] In a possible implementation, the navigation data comes from the vehicle's onboard navigation module. That is, when the vehicle is equipped with an onboard navigation module or a navigation application, the vehicle or the navigation guidance device can obtain the navigation data from the onboard navigation module or the navigation application.

[0087] In another possible implementation, the navigation data comes from an external device. That is, when the vehicle or the navigation guidance device is connected to an external device and a navigation application is installed on the external device, the vehicle or the navigation guidance device can obtain navigation data from the external device. The external device can be, for example, a mobile phone, a tablet computer, a smart watch, a laptop computer or other vehicle-mounted device with a navigation application installed, and this application does not limit this.

[0088] For example, a vehicle or a navigation guidance device may acquire the posture data.

[0089] In one possible implementation, the posture data may come from the vehicle's onboard navigation module or the vehicle's assisted driving system, that is, the vehicle or a navigation guidance device may obtain the vehicle's posture data from the vehicle's onboard navigation module or the vehicle's assisted driving system.

[0090] In another possible implementation, the position data may come from an external device, that is, the vehicle or navigation guidance device may obtain the position data of the vehicle from the external device. As an example and not a limitation, for example, the external device may be a mobile phone, tablet computer, smart watch, laptop computer or other vehicle-mounted device with a navigation application or a navigation module installed, and the vehicle or navigation guidance device may obtain the position data of the vehicle from the navigation module on the external device.

[0091] In another possible implementation, the posture data is calculated by itself, that is, the vehicle or navigation guidance device can calculate the posture data through its own computing power.

[0092] In one example, when the pose data is calculated by itself, the method 200 further includes: calculating the pose data based on the sensor data of the vehicle, the sensor data including positioning data and IMU data. For a description of calculating the pose data based on the sensor data of the vehicle, that is, a description of performing position estimation on the vehicle, please refer to the following. Figure 5 For the sake of brevity, the relevant description is not repeated here.

[0093] It is understandable that the sensor data may include but is not limited to positioning data and IMU data. For example, the sensor data may also include data collected by a wheel speed meter, and may also include data such as the wheelbase and tire radius of the vehicle. This application does not limit this.

[0094] For detailed descriptions of Link point data, intersection turn data, positioning data, and IMU data, please refer to the above Figure 1 For the sake of brevity, the relevant description of the data acquisition module 101 is not repeated here.

[0095] It is understandable that sensors on the vehicle (including but not limited to IMU) can collect data in real time or periodically, and the vehicle or navigation guidance device can obtain sensor data from these sensors.

[0096] Step 220: Determine the target driving route of the vehicle based on the navigation data and the position data.

[0097] Among them, a plurality of intersections are included in the relevant area of ​​the target driving route, and the target driving route includes the first intersection among the plurality of intersections.

[0098] Figure 3 It is a schematic diagram of the relevant area range of the target driving route provided in an embodiment of the present application.

[0099] In a possible implementation, the relevant area range of the target driving route may be the relevant area range of a preset driving distance, and the preset driving distance may be 100 meters (meter, m), 120m, 150m, etc., and this application does not impose any limitation on this.

[0100] like Figure 3 As shown, the relevant area range of the preset driving distance can be an arc range of 120°, an arc range of 150°, an arc range of 180°, an arc range of 210°, or an arc range of 240°, etc., with the vehicle as the center and the preset driving distance as the radius, and the present application does not limit this. The relationship between the vehicle driving direction and the relevant area range of the preset driving distance is that the vehicle driving direction can divide the relevant area range of the preset driving distance into two arc ranges.

[0101] In another possible implementation, the relevant area range of the target driving route may be the relevant area range of the distance that can be illuminated by the lighting device of the vehicle.

[0102] like Figure 3As shown, the relevant area range of the distance that can be illuminated by the lighting device of the vehicle can be an arc range of 120°, an arc range of 150°, an arc range of 180°, an arc range of 210°, or an arc range of 240°, etc., with the vehicle as the center and the distance that can be illuminated by the lighting device of the vehicle as the radius, and the present application does not limit this. The relationship between the driving direction of the vehicle and the relevant area range of the distance that can be illuminated by the lighting device of the vehicle is that the driving direction of the vehicle can divide the relevant area range of the distance that can be illuminated by the lighting device of the vehicle into two arc ranges.

[0103] Understandably, Figure 3 The arc range of 180°, the arc range of 210° and the arc range of 240° are shown in FIG. 1 , as shown in the dashed lines. For the clarity of the lines and text in the figure, Figure 3 The arc range of 120° and the arc range of 150° are not shown in the figure, which shall not limit the present application in any way.

[0104] like Figure 3 As shown, the relevant area range of the preset driving distance or the relevant area range of the distance that can be illuminated by the vehicle's lighting device includes multiple intersections, for example, intersection 1, intersection 2, intersection 3, intersection 4, intersection 5, intersection 6, etc. The target driving route includes the first intersection among the multiple intersections, that is, the first intersection is in the target driving route of the vehicle.

[0105] After acquiring the navigation data and posture data, the vehicle or navigation guidance device may analyze and process the navigation data and the posture data, for example, including but not limited to calculating and solving algorithm modules such as road matching and vehicle kinematic modeling based on the navigation data and the posture data, so as to determine the target driving route of the vehicle within a preset driving distance in the future.

[0106] In one possible implementation, in step 220 of the above method 200, the target driving route of the vehicle is determined based on the navigation data and the posture data, including: determining the road data of the target section based on the posture data and the navigation data, the target section including the corresponding point on the section where the vehicle is currently located and the section within a preset driving distance in the future of the corresponding point; determining the target driving route based on the posture data, the vehicle kinematic model and the road data of the target section.

[0107] The road data is the shape data of the road corresponding to the target road section. The corresponding point on the road section where the vehicle is currently located can be understood as the corresponding point on the road section where the vehicle is currently located.

[0108] The vehicle or navigation guidance device can use the position data and the navigation data to perform road matching to determine the target road section and obtain the navigation data corresponding to the target road section. For a detailed description of road matching, please refer to the following Figure 6 For the sake of brevity, the relevant content will not be repeated here.

[0109] Further, the vehicle or navigation guidance device can determine the target driving route based on the posture data, the vehicle kinematic constraints and the navigation data corresponding to the target road section. For a description of performing route planning to determine the target driving route, please refer to the following Figure 7 and Figure 8 For the sake of brevity, the relevant content will not be repeated here.

[0110] Step 230: Generate a navigation guidance graphic based on the target driving route.

[0111] The navigation guidance graphic is used to be projected into an actual driving environment to indicate a first intersection in the target driving route.

[0112] That is to say, after determining the target driving route, the vehicle or the navigation guidance device can generate a navigation guidance graphic based on the target driving route, so as to guide the user to the first intersection in the target driving route within a preset driving distance in the future based on the navigation guidance graphic, thereby avoiding the user from taking the wrong intersection in a scenario with multiple intersections. In this way, the intelligence of the vehicle's navigation function can be improved.

[0113] Figure 4 It is another schematic block diagram of the navigation guidance device provided in an embodiment of the present application.

[0114] like Figure 4 As shown in a), in a possible implementation, the above Figure 1 The calculation module 102 of the navigation guidance device 100 may include a road matching submodule 1022 and a vehicle kinematics model submodule 1023. The data acquisition module 101 may be used to acquire navigation data and vehicle posture data. The navigation data may come from the vehicle-mounted navigation module or an external device of the vehicle; the posture data may come from the vehicle-mounted navigation module of the vehicle, or the vehicle's auxiliary driving system, or an external device.

[0115] In addition, the posture data can also be calculated by the vehicle or the navigation guidance device itself. In this implementation, Figure 1 The navigation guidance device 100 may include a posture estimation submodule 1021, and the data acquisition module 101 may also be used to acquire sensor data. The posture estimation submodule 1021 may be used to calculate the posture data of the vehicle based on the sensor data of the vehicle. In an example, Figure 4 As shown in a), the data acquisition module 101 may include the posture estimation submodule 1021; in another example, as shown in Figure 4 As shown in b), the calculation module 102 may include the posture estimation submodule 1021.

[0116] Above Figure 1 As mentioned in the above, the data acquisition module 101 can be used to acquire data, such as but not limited to navigation data and vehicle posture data; the calculation module 102 can be used to determine the target driving route of the vehicle within a preset driving distance in the future; the composition module 103 can be used to generate a navigation guidance graphic based on the target driving route; and the optical projection module 104 can be used for the navigation guidance graphic. For detailed descriptions of the data acquisition module 101, the composition module 103 and the optical projection module 104, please refer to Figure 1 For the sake of brevity, the relevant description in will not be repeated here.

[0117] The pose estimation submodule 1021 , the road matching submodule 1022 and the vehicle kinematics model submodule 1023 are described in detail below.

[0118] The posture estimation submodule 1021 can be used to determine the posture data of the vehicle based on the sensor data. Figure 5 The process of determining the posture data of the vehicle based on the sensor data by the posture estimation submodule 1021 is exemplarily described.

[0119] Figure 5 It is a schematic flowchart for performing posture estimation provided in an embodiment of the present application.

[0120] Exemplarily, pose estimation may include: Figure 7 Steps 501 to 504 in .

[0121] Step 501: Pose initialization.

[0122] It can be understood that in actual application scenarios, a switch or button for turning on and off the navigation guidance function can be provided to the user, and the vehicle can respond to the user's operation of the switch or button to turn on or off the navigation guidance function, that is, to trigger the execution of the navigation guidance method provided in the present application or exit the execution of the navigation guidance method.

[0123] Each time the user turns on the navigation guidance function, the vehicle or the navigation guidance device may first perform an initialization operation on the vehicle's position and posture based on the sensor data, that is, preliminarily determine the vehicle's current position and posture.

[0124] If the initialization operation fails, the user may be prompted through the UI interface or voice that there is no valid sensor data, and the user may be advised to select an area with a good positioning signal, or the user may be advised to re-enable the navigation guidance function.

[0125] Step 502: Zero speed correction and / or zero heading correction.

[0126] During the driving process of the vehicle, the vehicle or the navigation guidance device can perform zero speed correction and / or zero heading correction on the vehicle based on the sensor data, that is, during the driving process of the vehicle, the actual speed of the vehicle may be zero in a short period of time, and the vehicle or the navigation guidance device can timely determine the current vehicle speed correction to zero based on the sensor data obtained in real time; and / or, during the driving process of the vehicle, the actual heading (that is, the driving direction) of the vehicle may be zero in a short period of time, and the vehicle or the navigation guidance device can timely determine the current vehicle heading correction to zero based on the sensor data obtained in real time. Thereby, the subsequent pose estimation results can be made more accurate.

[0127] Step 503: pose calculation.

[0128] When the posture initialization is successful, the vehicle or the navigation guidance device can perform posture solution based on the posture initialization data and the subsequent real-time sensor data acquired, that is, the design model can fuse the data of multiple sensors, such as but not limited to GPS positioning data, IMU, data, wheel speed meter, etc., to perform track calculation to obtain smooth, stable and high-precision posture data.

[0129] Step 504: Forward pose prediction.

[0130] Taking into account the delay of data transmission and the delay of calculation, the posture data can be predicted forward so that the obtained posture data is closer to the current real posture of the vehicle. For example, the delay of data transmission and the delay of calculation are 1 second (second, s). When the speed of the vehicle is not zero, the posture data calculated in step 503 is equivalent to the posture data of the vehicle 1s ago, and it cannot accurately represent the current posture of the vehicle. Therefore, the posture data of the vehicle after a preset period of time can be predicted forward based on the posture data calculated previously, the speed and heading of the vehicle, etc. The posture data obtained after the forward prediction is closer to the current real posture of the vehicle. It can be understood that the preset period of time can be set according to the delay of data transmission and the delay of calculation, and can also be set according to a large amount of experimental data or empirical data. The specific value of the preset period of time is not limited in this application.

[0131] In addition, the confidence corresponding to the posture data of the vehicle obtained after forward prediction can also be obtained. The confidence can be used to judge the accuracy of the posture result. When the confidence is greater than a preset threshold, it can be considered that the posture data of the vehicle obtained is relatively accurate. The road matching submodule 1022 can be used to determine the navigation data corresponding to the target section based on the posture data and the navigation data. In other words, the road matching submodule 1022 can be mainly used to determine the specific section in the navigation path where the vehicle is located. In addition, in the data processing process of this submodule, the distance (i.e. lateral deviation or lateral offset) and the angle difference between the vehicle and the current section can also be calculated, which can provide a route reference point for subsequent data processing.

[0132] The following combination Figure 6 The process of the road matching submodule 1022 determining the navigation data corresponding to the target road segment based on the posture data and the navigation data is exemplarily described.

[0133] Figure 6 It is a schematic flowchart of road matching provided in an embodiment of the present application.

[0134] Exemplarily, road matching may include: Figure 6 Steps 601 to 605 in .

[0135] Step 601: Calculate the distance and direction vector angle between the vehicle and the last matched road section.

[0136] The navigation route involved in the navigation data may be divided into a plurality of sections according to a certain length threshold, and each section may correspond to an index, which is used to identify the section.

[0137] If this is not the first time that the road is matched during the use of the navigation guidance function, the vehicle or the navigation guidance device may calculate the distance and direction vector angle between the vehicle and the last matched road segment.

[0138] Calculate the distance between the vehicle and the last matched road section (that is, the lateral deviation between the vehicle and the target road section). As an example but not a limitation, the vehicle can be abstracted as a point, and the coordinates of this point can be obtained based on the aforementioned vehicle posture data; similarly, the last determined target road section can be abstracted as a line segment, and the coordinates of the line segment can be obtained based on the aforementioned navigation data, and the distance between the vehicle and the last matched road section is calculated, that is, the distance from the point to the line segment is calculated.

[0139] The vehicle's driving direction can be obtained based on the vehicle's position data. The angle between the vehicle's direction vector and the last matched road segment is calculated, that is, the angle between the vehicle's driving direction (ie, the heading angle) and the extension direction of the last matched road segment is calculated.

[0140] It is understandable that if this is the first time that road matching is performed during the use of the navigation guidance function, step 601 may not be performed.

[0141] Step 602: Calculate the distance and direction vector angle between the vehicle and each future road segment.

[0142] It is understood that the future road section is a plurality of road sections corresponding to a plurality of Link points within a preset length in the future. For example, the preset length may be 100m, 120m, 150m, etc., and this application does not impose any limitation on this. The preset length may also be understood as the preset driving distance described in the above step 220.

[0143] The process of calculating the distance and direction vector angle between the vehicle and each of the future road sections is the same as the process of calculating the distance and direction vector angle between the vehicle and the last matched road section in the above step 601, and will not be repeated here for the sake of brevity.

[0144] Step 603: Calculate the cost score.

[0145] In one possible implementation, a model for calculating cost scores can be pre-trained, and the distance and direction vector angle corresponding to each road segment index with the vehicle are used as input data and input into the model for calculating cost scores, and the cost scores corresponding to each road segment index can be output respectively. Optionally, in the case of a last matched road segment, when the distance and direction vector angle between the last matched road segment and the vehicle are the same as or similar to the distance and direction vector angle between the vehicle and a future road segment, the cost score corresponding to the road segment index of the last matched road segment is lower than the cost score corresponding to the road segment index of the future road segment.

[0146] Step 604: Obtain the segment index of the segment with the minimum cost score.

[0147] The vehicle or the navigation guidance device may determine the segment index of the segment with the smallest cost score based on the multiple segment indexes output by the model for calculating the cost score and the corresponding multiple cost scores.

[0148] Step 605: Determine the navigation data corresponding to the target road segment.

[0149] Based on the section index of the section with the smallest cost score determined in the above step 604, the lateral deviation between the section with the smallest cost score and the vehicle and the Link point data corresponding to the section within the preset length including the section can be determined. The section within the preset length including the section is also the target section.

[0150] The vehicle kinematics model submodule 1023 determines the target driving route based on the posture data, the vehicle kinematics constraints and the navigation data corresponding to the target road section. That is, the vehicle kinematics model submodule 1023 can be mainly used to plan the route according to the current vehicle posture data and the point data of the future road shape (that is, the navigation data corresponding to the target road section), forming a smooth and continuous driving route (that is, the target driving route) that meets the vehicle motion constraints.

[0151] In one possible implementation, the target driving route is determined based on the posture data, the vehicle kinematic model and the road data of the target section, including: determining multiple driving routes based on the posture data and the road data corresponding to the target section; determining multiple candidate driving routes from the multiple driving routes based on the vehicle kinematic model, each of the multiple candidate driving routes conforming to the vehicle kinematic model; and determining the target driving route from the multiple candidate driving routes.

[0152] The following combination Figure 7 The process of determining the target driving route by the vehicle kinematics model submodule 1023 based on the posture data, the vehicle kinematics model and the road data of the target road section is exemplarily described.

[0153] Figure 7 It is a schematic flowchart of route planning provided in an embodiment of the present application.

[0154] Exemplarily, road matching may include: Figure 7 Steps 701 to 706 in .

[0155] Step 701: Link point curve is smoothed.

[0156] The vehicle or the navigation guidance device may take the above-determined target road section (ie, the Link point corresponding to the target road section) to perform curve smoothing, and may use the route after the curve smoothing as a reference route.

[0157] Step 702: Grid sampling based on path time and lateral deviation.

[0158] The vehicle or navigation guidance device can determine the time range from the starting end of the reference route to the end of the route, and the lateral deviation range from the reference route when reaching the end of the reference route according to the current speed of the vehicle, and perform grid sampling according to the preset fixed spacing, that is, the size of the grid is related to the preset fixed spacing. The grid sampling result is N*M grids, N can represent the preset N lateral deviations, M can represent the preset M times to reach the end point, where N≥1, M≥1, and N and M are both integers. Sampling is performed based on the lateral deviation of the vehicle from the planned end point and the time to reach the planned end point, where each grid expresses the remaining time and lateral deviation to reach the planned end point. For example, 3 lateral deviations are preset (N=3 at this time), which are 0m, 2m and 4m respectively, and 3 times to reach the end point are preset (M=3 at this time), which are 8s, 10s and 12s respectively, then the grid sampling result has N*M grids.

[0159] Step 703: Based on the grid sampling results, perform polynomial interpolation to obtain multiple routes.

[0160] The vehicle or navigation guidance device can perform polynomial interpolation on the grid sampling results to obtain multiple continuous and smooth curves, each of which can be used as a driving route, that is, to obtain multiple driving routes.

[0161] Step 704: Filter out routes whose motion parameters such as speed and acceleration do not satisfy the vehicle kinematic constraints.

[0162] The vehicle or navigation guidance device can filter out the routes that do not meet the vehicle kinematic constraints from the above multiple driving routes according to the vehicle kinematic constraints to obtain multiple candidate routes. The vehicle kinematic constraints may involve but are not limited to motion parameters such as speed and acceleration. The routes that meet the vehicle kinematic constraints are routes that meet the vehicle kinematic model.

[0163] Step 705: Calculate the cost scores of the remaining routes.

[0164] The vehicle or the navigation guidance device may calculate the cost scores of the remaining routes (ie, the above-mentioned multiple candidate routes) based on the vehicle's current speed, acceleration, centripetal acceleration and other data.

[0165] Step 706: Determine the route with the minimum cost score.

[0166] Figure 8 It is a schematic diagram of multiple candidate routes provided in an embodiment of the present application.

[0167] like Figure 8As shown, line 1 can represent the Link point corresponding to the target road section, line 2 can represent the reference route obtained after executing the above step 701, line 3 can represent the multiple candidate routes obtained after executing the above step 704, and line 4 can represent the target driving route obtained after executing the above step 706.

[0168] The vehicle or navigation guidance device may use the route with the smallest cost score among the candidate routes as the target driving route.

[0169] In this implementation, on the one hand, it does not rely on lane line detection, which can reduce the dependence on lane line data; on the other hand, it does not rely on data such as steering wheel angles, but instead uses the road shape (Link) points of the real road in the navigation data as prior information. Therefore, the generated target driving route can reflect the user's driving intention.

[0170] In a possible implementation, the method 200 further includes: projecting the navigation guidance graphic in an actual driving environment.

[0171] After the navigation guidance graphic is generated, the vehicle or navigation guidance device can project the navigation guidance graphic to a preset location, such as but not limited to the ground or the front windshield of the vehicle, so that the user can drive safely based on the guidance of the navigation guidance graphic.

[0172] The present application provides a variety of ways to project the navigation guidance graphics in an actual driving environment, and these various ways are described below.

[0173] Implementation A: The navigation guidance graphic is projected using the lighting device of the vehicle to display the navigation guidance graphic on the ground in an actual driving environment.

[0174] In one example, the navigation guidance graphic includes icons for indicating the driving direction, which includes but is not limited to left turn, straight go, right turn, left front, right front, or U-turn.

[0175] In this implementation, the lighting device can not only be used for lighting, but also play a role in navigation guidance.

[0176] In one example, the icon is displayed in a lighting area illuminated by the lighting device on the ground.

[0177] Fig. 9 It is a schematic diagram of projecting a navigation guidance graphic on the ground using a lighting device provided in an embodiment of the present application.

[0178] As an example and not a limitation, for example, in the case where it is necessary to guide the user to drive the vehicle straight to the intersection 4, the illumination area illuminated by the icon and the vehicle light on the ground can be as follows: Fig. 9As shown in a), an icon indicating going straight in the direction of intersection 4 may appear in the intersection area where the illumination area and intersection 4 extend, to instruct the user to travel in the direction of intersection 4. It can be understood that, in this case, intersection 4 is the first intersection included in the target driving route.

[0179] For another example, when it is necessary to guide the user to drive the vehicle to the right front toward the intersection 5, the illumination area on the ground illuminated by the icon and the vehicle light can be as follows: Fig. 9 As shown in b), an icon indicating driving in the direction of the right front intersection 5 may appear in the intersection area where the illumination area and the intersection 5 extend, to instruct the user to drive in the direction of the intersection 5. It can be understood that, in this case, the intersection 5 is the first intersection included in the target driving route.

[0180] In another example, the icon is displayed in the shape of a lighting area illuminated by the vehicle lamp on the ground.

[0181] Fig.10 This is another schematic diagram of using a lighting device to project a navigation guidance graphic onto the ground provided in an embodiment of the present application.

[0182] As an example and not a limitation, for example, in the case where it is necessary to guide the user to drive the vehicle straight to the intersection 4, the illumination area illuminated by the icon and the vehicle light on the ground can be as follows: Fig.10 As shown in a), the icon for indicating going straight towards the intersection 4 can be displayed in the shape of the illumination area illuminated by the lighting device on the ground, that is, the shape of the illumination area is the shape of the icon indicating going straight, so as to instruct the user to drive towards the intersection 4.

[0183] For another example, when it is necessary to guide the user to drive the vehicle to the right front toward the intersection 5, the illumination area on the ground illuminated by the icon and the vehicle light can be as follows: Fig.10 As shown in b), the icon for indicating driving in the direction of intersection 5 in front of the right can be displayed in the shape of the illumination area illuminated by the lighting device on the ground, that is, the shape of the illumination area is the shape of the icon indicating driving in the right front, so as to instruct the user to drive in the direction of intersection 5 in front of the right.

[0184] It is understood that in this implementation, the shape of the illumination area illuminated by the lighting device on the ground includes but is not limited to Fig.10 The arrow shapes shown in a) and b) may also include Fig.10 The shapes shown in c) and d) are wide near and narrow far away, and the embodiments of the present application are not limited to this.

[0185] The lighting area on the ground illuminated by the above-mentioned headlights may also be referred to as a light carpet, which is not limited in the present application.

[0186] In this implementation, especially in scenes such as multi-fork intersections, accurate navigation guidance can be made by controlling the navigation guidance image projected by the lighting device, which has strong navigation guidance and can control the light shape of the light carpet to achieve the purpose of enhanced directionality.

[0187] Implementation method B: using a head-up display device (or a head-up display module) to project the navigation guidance graphic to display the navigation guidance graphic on the front windshield of the vehicle.

[0188] In this implementation, the vehicle or navigation guidance device can use the head-up display device to project icons onto the human eye focus position on the front windshield. The icons can include navigation arrows and / or guide lines. The target driving route can be used to guide the shape of the guide line and can also be used to control the projection position of the navigation arrow so that the shape of the guide line fits the actual road trajectory of the vehicle within the future preset driving distance, thereby realizing the navigation guidance function; in addition, the navigation arrow can be accurately projected at the location of the intersection and fit with the intersection, thereby ensuring that the navigation arrow has navigation guidance.

[0189] Fig.11 It is a schematic diagram of projecting a navigation guidance graphic onto a front windshield using a head-up display device provided in an embodiment of the present application.

[0190] As an example and not a limitation, for example, when it is necessary to guide the user to drive the vehicle to turn right at a certain intersection, the icon projected on the front windshield can be as follows: Fig.11 As shown, the icon may include a navigation arrow and / or a guide line. For example, a navigation arrow for indicating a right turn may be projected at the location of the intersection, and the shape of the guide line for indicating driving right at the intersection may fit the actual road trajectory of the vehicle within a preset driving distance in the future.

[0191] In some other possible implementations, the navigation guidance graphics may be projected onto a sunroof or a seat back, etc., which is not limited in this application.

[0192] In a possible implementation, in the above method 200, obtaining navigation data and vehicle posture data is triggered when environmental factor information in the actual driving environment meets preset conditions.

[0193] Among them, environmental factor information includes but is not limited to information on factors such as light intensity, visibility, and texture; preset conditions include but are not limited to: light intensity is less than or equal to a preset light intensity threshold, or visibility is less than or equal to a preset visibility threshold, or texture intensity is less than or equal to a preset texture intensity threshold, etc., and the embodiments of the present application do not limit this.

[0194] That is to say, the navigation guidance method provided in the present application can be triggered to start when the environmental factor information in the actual driving environment meets the preset conditions.

[0195] In another possible implementation, in the above method 200, obtaining the navigation data and the vehicle's position and posture data is triggered when a trigger operation is detected.

[0196] The triggering operation includes, but is not limited to, voice control operation, gesture control operation, user interface operation or key operation.

[0197] That is to say, the navigation guidance method provided in the present application can be triggered to start when it is detected that the user has performed a triggering operation on the vehicle or the navigation guidance device.

[0198] Based on the above scheme, firstly, the vehicle or navigation guidance device can perform more precise vehicle positioning and route planning analysis based on navigation data and posture data, generate navigation guidance graphics, and guide the user to the intersections involved in the route within the preset driving distance in the future, so as to avoid the user from going to the wrong intersection in the scene of multiple intersections. In this way, the intelligence of the vehicle's navigation function can be improved, and higher navigation accuracy and better user interaction logic can be provided to the user, so as to create the ultimate experience of intelligent driving and safe driving. Furthermore, the above scheme does not rely on data such as steering wheel angle, but takes the Link point of the real road in the navigation data as prior information, so the generated target driving route can reflect the user's driving intention. Furthermore, the above scheme does not rely on the detection of lane lines, and can reduce the dependence on lane line data. In addition, the above scheme does not rely on the data obtained by laser radar, millimeter wave radar, camera, etc. Therefore, it is not affected by factors such as lighting conditions, weak texture changes in driving environment scenes, weather conditions, etc., and can provide navigation guidance in all weather and all scenes, with good universality.

[0199] An embodiment of the present application also provides a lighting device, which includes a projection module, which can be used to project a navigation guidance graphic. The navigation guidance graphic is used to be projected in an actual driving environment to indicate a first intersection among multiple intersections included in a relevant area of ​​a target driving route, and the target driving route includes the first intersection.

[0200] In a possible implementation, the lighting device also includes a control module, which can be used to obtain navigation data and vehicle posture data; determine the target driving route based on the navigation data and the posture data; and generate the navigation guidance graphic based on the target driving route.

[0201] That is, the lighting device can perform the above Figure 2 , Figures 5 to 7The steps involved in any one of the items.

[0202] In a possible implementation, the lighting device may have more than ten thousand pixels, and a preset algorithm deployed in the lighting device may implement pixel-level brightness adjustment to support the control of diverse light types.

[0203] An embodiment of the present application also provides a head-up display device, which includes a projection module, which can be used to project a navigation guidance graphic. The navigation guidance graphic is used to be projected in an actual driving environment to indicate a first intersection among multiple intersections included in a relevant area of ​​a target driving route, and the target driving route includes the first intersection.

[0204] In a possible implementation, the head-up display device also includes a control module, which can be used to obtain navigation data and vehicle posture data; determine the target driving route based on the navigation data and the posture data; and generate the navigation guidance graphic based on the target driving route.

[0205] That is, the head-up display device can perform the above Figure 2 , Figures 5 to 7 The steps involved in any one of the items.

[0206] The present application also provides a navigation guidance device, which includes a device for executing the above Figure 2 , Figures 5 to 7 The modules included in the navigation guidance device can be implemented by software and / or hardware.

[0207] The embodiment of the present application also provides a navigation guidance device, which includes a memory and a processor, wherein the memory is used to store a program, and the processor is used to call and execute the program, so that the navigation guidance device performs the above Figure 2 , Figures 5 to 7 The steps involved in any one of the items.

[0208] The embodiment of the present application also provides a vehicle, which may include one or more of the above-mentioned lighting device, head-up display device or navigation guidance device to achieve the above-mentioned Figure 2 , Figures 5 to 7 The functions involved in the steps in any of the items.

[0209] The embodiment of the present application also provides a vehicle, which includes a vehicle for performing the above Figure 2 , Figures 5 to 7 The corresponding modules of the steps involved in any one of the above. The modules included in the vehicle can be implemented by software and / or hardware.

[0210] The embodiment of the present application also provides a vehicle, which includes a memory and a processor, wherein the memory is used to store a program, and the processor is used to call and execute the program, so that the device performs the above Figure 2 , Figures 5 to 7 The steps involved in any one of the items.

[0211] The present application also provides a chip system, which includes at least one processor for implementing the above Figure 2 , Figures 5 to 7 The functions involved in the steps in any of the items.

[0212] In one possible design, the chip system also includes a memory, which is used to store program instructions and data, and the memory is located inside or outside the processor.

[0213] The chip system may be composed of the chip, or may include the chip and other discrete devices.

[0214] The embodiment of the present application also provides a readable storage medium on which a program is stored. When the program is executed by a device, the device executes the above Figure 2 , Figures 5 to 7 The steps involved in any one of the items.

[0215] The embodiment of the present application also provides a program product, including a program, which, when executed, enables the device to execute the above Figure 2 , Figures 5 to 7 The steps involved in any one of the items.

[0216] It should be understood that the processor in the embodiment of the present application can be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method embodiment can be completed by the hardware integrated logic circuit or software instructions in the processor. The above processor can be a general processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in the embodiment of the present application can be directly embodied as a hardware decoding processor to perform, or the hardware and software modules in the decoding processor can be combined to perform. The software module can be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.

[0217] It should also be understood that the memory in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), and direct RAM (DR RAM). It should be noted that the memory of the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0218] The terms "unit", "module", etc. used in this specification may be used to represent an entity related to a device or an apparatus, hardware, firmware, a combination of hardware and software, software, or software in execution.

[0219] It will be appreciated by those skilled in the art that the various illustrative logical blocks and steps described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or in combination with software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application. In the several embodiments provided in this application, it should be understood that the disclosed devices, equipment and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of the modules is only a logical function division, and there may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point, the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0220] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0221] In addition, each functional module in each embodiment of the present application may be integrated into one processing module, or each module may exist physically separately, or two or more units may be integrated into one module.

[0222] In the above embodiments, the functions of each functional module can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a program product. The program product includes one or more instructions (programs). When the program instructions (programs) are loaded and executed on a device or apparatus, the process or function described in the embodiment of the present application is generated in whole or in part. The instructions can be stored in a readable storage medium, or transmitted from one readable storage medium to another readable storage medium, for example, the instructions can be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The readable storage medium can be any available medium that can be accessed by a device or apparatus or a data storage device such as a server or data center that contains one or more available media integrations. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a digital versatile disk (DVD)), or a semiconductor medium (eg, a solid state disk (SSD)).

[0223] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The software product is stored in a storage medium and includes several instructions for enabling a device or apparatus (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard drives, ROM, RAM, magnetic disks, or optical disks.

[0224] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A navigation guidance method, characterized in that: include: Obtain navigation data and vehicle posture data; Determine a target driving route of the vehicle based on the navigation data and the position data, wherein a relevant area of ​​the target driving route includes a plurality of intersections, and the target driving route includes a first intersection among the plurality of intersections; A navigation guidance graphic is generated based on the target driving route, and the navigation guidance graphic is used to be projected in an actual driving environment to indicate the first intersection in the target driving route.

2. The method according to claim 1, characterized in that The determining a target driving route of the vehicle based on the navigation data and the position data comprises: Determine road data of a target road section based on the position data and the navigation data, wherein the target road section includes a corresponding point on the road section where the vehicle is currently located and a road section within a preset driving distance in the future of the corresponding point; The target driving route is determined based on the posture data, the vehicle kinematic model and the road data of the target road section.

3. The method according to claim 2, characterized in that The determining the target driving route based on the posture data, the vehicle kinematics model and the road data of the target road section includes: Determining a plurality of driving routes based on the posture data and the road data corresponding to the target road section; Based on the vehicle kinematics model, determining a plurality of candidate driving routes from the plurality of driving routes, each of the plurality of candidate driving routes conforming to the vehicle kinematics model; The target driving route is determined from the plurality of candidate driving routes.

4. The method according to any one of claims 1 to 3, characterized in that The method further comprises: The navigation guidance graphic is projected by using the lighting device of the vehicle to display the navigation guidance graphic on the ground in the actual driving environment.

5. The method according to claim 4, characterized in that The navigation guidance graphic includes icons for indicating a driving direction, and the driving direction includes left turn, straight ahead, right turn, left front, right front or U-turn.

6. The method according to claim 5, characterized in that The icon is displayed in the lighting area illuminated by the lighting device on the ground.

7. The method according to claim 5, characterized in that The icon is displayed in the shape of a lighting area illuminated by the lighting device on the ground.

8. The method according to any one of claims 1 to 3, characterized in that The method further comprises: The navigation guidance graphic is projected by using a head-up display device to display the navigation guidance graphic on the front windshield of the vehicle.

9. The method according to any one of claims 1 to 8, characterized in that The navigation data comes from an onboard navigation module of the vehicle, or the navigation data comes from a navigation module on an external device.

10. The method according to any one of claims 1 to 9, characterized in that The position data comes from an onboard navigation module of the vehicle or an auxiliary driving system of the vehicle; or, The posture data comes from an external device; or, The posture data is calculated by itself.

11. The method according to claim 10, characterized in that In the case where the posture data is calculated by itself, the method further includes: The position data is calculated based on sensor data of the vehicle, wherein the sensor data includes positioning data and inertial measurement unit (IMU) data.

12. The method according to any one of claims 1 to 11, characterized in that The acquisition of navigation data and vehicle posture data is triggered when environmental factor information in the actual driving environment meets preset conditions; or, The acquisition of navigation data and vehicle position and posture data is triggered when a trigger operation is detected.

13. A navigation guidance device, characterized in that: The apparatus comprises means for implementing the method according to any one of claims 1 to 12.

14. A navigation guidance device, characterized in that: comprising a processor and a memory, wherein: The memory is used to store programs; The processor is configured to call the program so that the device executes the method according to any one of claims 1 to 12.

15. A lighting device, characterized in that: include: Projection module: used for projecting navigation guidance graphics, wherein the navigation guidance graphics are used to be projected in an actual driving environment to indicate a first intersection among multiple intersections included in a relevant area of ​​a target driving route, and the target driving route includes the first intersection.

16. The lighting device according to claim 15, characterized in that: The lighting device further comprises: Control module: used for acquiring navigation data and vehicle posture data; determining the target driving route based on the navigation data and the posture data; and generating the navigation guidance graphic based on the target driving route.

17. A head-up display device, characterized in that: include: Projection module: used for projecting navigation guidance graphics, wherein the navigation guidance graphics are used to be projected in an actual driving environment to indicate a first intersection among multiple intersections included in a relevant area of ​​a target driving route, and the target driving route includes the first intersection.

18. The head-up display device according to claim 17, characterized in that: The head-up display device further includes: Control module: used for acquiring navigation data and vehicle posture data; determining the target driving route based on the navigation data and the posture data; and generating the navigation guidance graphic based on the target driving route.

19. A vehicle, characterized in that: The method comprises the apparatus according to any one of claims 13 to 18, wherein the apparatus is used to implement the method according to any one of claims 1 to 12.

20. A readable storage medium having a program stored thereon, characterized in that: When the program is executed, the device executes the method according to any one of claims 1 to 12.

21. A program product, characterized in that The device comprises a program, which, when being executed, causes the device to execute the method according to any one of claims 1 to 12.

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