Vehicle navigation method and device, electronic equipment and medium

Abstract

The invention provides a vehicle navigation method and device, electronic equipment, a computer readable storage medium and a computer program product, and relates to the field of computers, in particular to the technical field of vehicle navigation, map navigation and automatic driving. According to the implementation scheme, in response to determining that the vehicle runs on a road of a low-friction road surface, a first position of the vehicle is determined; the minimum turning radius and the maximum transverse swing range are determined; determining a turning point and a second position based on the minimum turning radius and the maximum transverse swing range; based on the first position, the turning point and the second position, determining to enter a snakelike driving mode, and generating a navigation curve which is used for guiding the vehicle to turn towards the first side at the first position so as to turn towards the second side after driving to the turning point along a to-be-driven path corresponding to the navigation curve so as to continue to drive to the second position along the to-be-driven path, the first side is one of the left side and the right side of the extending direction of the road, and the second side is the other one of the left side and the right side of the extending direction of the road.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of computer, in particular to the field of vehicle navigation, map navigation and automatic driving, and more particularly to a vehicle navigation method and device, electronic equipment, computer readable storage medium and computer program product. BACKGROUND

[0002] Vehicle navigation refers to integrating a navigation system in a car to provide route planning and real-time navigation services for drivers. With the increase in the number of cars and the increasing demand for intelligentization, the industry has grown rapidly in recent years. Navigation systems are gradually becoming intelligent and multifunctional to meet users' high requirements for travel safety and comfort. SUMMARY

[0003] The present disclosure provides a vehicle navigation method, device, electronic equipment, computer readable storage medium and computer program product.

[0004] According to an aspect of the present disclosure, a vehicle navigation method is provided, including determining a first position of a vehicle on a road with a low-friction road surface in response to determining that the vehicle is driving on the road; determining a minimum turning radius corresponding to the vehicle and a maximum lateral swing range of the vehicle on the road; determining a turning point and a second position based on the minimum turning radius and the maximum lateral swing range; and determining to enter a serpentine driving mode based on the first position, the turning point and the second position, and generating a navigation curve for guiding the vehicle to drive in a serpentine manner on the road, wherein the navigation curve is used to guide the vehicle to turn to a first side at the first position to drive along a to-be-traveled path corresponding to the navigation curve to the turning point, and then turn to a second side to continue driving along the to-be-traveled path to the second position, wherein the first side is one of a left side and a right side of an extension direction of the road, and the second side is the other of the left side and the right side of the extension direction of the road.

[0005] According to another aspect of the present disclosure, there is provided a vehicle navigation device, comprising: a first determining module configured to determine a first position of a vehicle on a road with a low-friction surface in response to determining that the vehicle is driving on the road; a second determining module configured to determine a minimum turning radius corresponding to the vehicle and a maximum lateral swing range of the vehicle on the road; a third determining module configured to determine a turning point and a second position based on the minimum turning radius and the maximum lateral swing range; and a curve generating module configured to determine to enter a serpentine driving mode and generate a navigation curve for guiding the vehicle to drive in a serpentine manner on the road based on the first position, the turning point and the second position, wherein the navigation curve is used to guide the vehicle to turn to a first side at the first position to drive along a to-be-traveled path corresponding to the navigation curve to the turning point and then turn to a second side to continue driving along the to-be-traveled path to the second position, wherein the first side is one of a left side and a right side of an extension direction of the road, and the second side is the other of the left side and the right side of the extension direction of the road.

[0006] According to another aspect of the present disclosure, there is provided an electronic device, comprising: at least one processor; and a memory communicatively connected with the at least one processor; the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method of the present disclosure.

[0007] According to another aspect of the present disclosure, there is provided a non-transitory computer readable storage medium storing computer instructions for causing a computer to perform the method of the present disclosure.

[0008] According to another aspect of the present disclosure, there is provided a computer program product comprising a computer program which, when executed by a processor, implements the method of the present disclosure.

[0009] It should be understood that the details described in this section are not intended to identify key or critical features of the embodiments of the present disclosure or to limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0010] The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments and together with the description serve to explain exemplary implementations of the application. The illustrated embodiments are exemplary only and not limiting of the scope of the claims. In all the drawings, like reference numerals refer to like parts throughout the several views.

[0011] Figure 1A schematic diagram illustrating an exemplary system in which various methods described herein can be implemented according to embodiments of the disclosure is shown; Figure 2 A flowchart of a vehicle navigation method according to embodiments of the disclosure is shown; Figure 3 A schematic diagram of a navigation curve for guiding a vehicle to snake through a curve according to embodiments of the disclosure is shown; Figure 4 A structural block diagram of a vehicle navigation device according to embodiments of the disclosure is shown; and Figure 5 A structural block diagram of an exemplary electronic device that can be used to implement embodiments of the disclosure is shown. DETAILED DESCRIPTION

[0012] Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of embodiments of the present disclosure are set forth in order to provide a thorough understanding of the present disclosure. It will be apparent to those skilled in the art that various changes and modifications can be made to the embodiments described herein without departing from the scope of the present disclosure. Also, the description is made in the order of the drawings for the sake of clarity and conciseness.

[0013] In the present disclosure, the terms "first", "second", and the like are used to describe various elements only for the purpose of distinguishing one element from another, and the terms are not intended to limit the positions, sequence, or importance of the elements. In some examples, a first element and a second element can refer to the same instance of the element, and in some cases, they can refer to different instances of the element based on the context of the description.

[0014] The terms used in the description of various described examples in the present disclosure are only for the purpose of describing particular examples and are not intended to be limiting. Unless specifically defined otherwise, an element that is a singular can be plural and vice versa. Also, the term "and / or" used in the present disclosure encompasses any and all possible combinations of the listed items.

[0015] Embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.

[0016] Figure 1 A schematic diagram illustrating an exemplary system 100 in which various methods and apparatuses described herein can be implemented according to embodiments of the present disclosure is shown. Reference is made to Figure 1The system 100 includes one or more client devices 101, 102, 103, 104, 105, and 106, a server 120, and one or more communication networks 110 that couple the one or more client devices to the server 120. The client devices 101, 102, 103, 104, 105, and 106 can be configured to execute one or more application programs.

[0017] In embodiments of the present disclosure, the server 120 can run one or more services or software applications that enable the execution of a vehicle navigation method.

[0018] In certain embodiments, the server 120 can also provide other services or software applications, which can include non-virtual and virtual environments. In certain embodiments, these services can be provided as web-based services or cloud services, such as to users of the client devices 101, 102, 103, 104, 105, and / or 106 under a software as a service (SaaS) model.

[0019] In Figure 1 In the illustrated configuration, the server 120 can include one or more components that implement the functionality performed by the server 120. These components can include software components that are executable by one or more processors, hardware components, or combinations thereof. Users operating the client devices 101, 102, 103, 104, 105, and / or 106 can in turn utilize one or more client applications to interact with the server 120 to utilize the services provided by the components. It should be understood that a wide variety of different system configurations are possible, which can vary from the system 100. Therefore, Figure 1 The system 100 is one example of a system for implementing the various methods described herein and is not intended to be limiting.

[0020] A user can use the client devices 101, 102, 103, 104, 105, and / or 106 to receive navigation curves, prompt information, and the like. The client devices can provide an interface that enables a user of the client device to interact with the client device. The client devices can also output information to the user via the interface. Although Figure 1 Only six client devices are depicted, but those skilled in the art will understand that the present disclosure can support any number of client devices.

[0021] Client devices 101, 102, 103, 104, 105, and / or 106 can include various types of computer devices, such as portable handheld devices, general purpose computers (such as personal computers and laptop computers), workstation computers, wearable devices, smart screen devices, self-service kiosk devices, service robots, gaming systems, thin clients, various messaging devices, sensors or other sensing devices, and the like. These computer devices can run various types and versions of software applications and operating systems, such as MICROSOFT Windows, APPLE iOS, UNIX-like operating systems, Linux or Linux-like operating systems (such as GOOGLE Chrome OS); or including various mobile operating systems, such as MICROSOFT Windows Mobile OS, iOS, Windows Phone, Android. Portable handheld devices can include cellular telephones, smartphones, tablet computers, personal digital assistants (PDAs), and the like. Wearable devices can include head-mounted displays (such as smart glasses) and other devices. Gaming systems can include various handheld gaming devices, Internet-enabled gaming devices, and the like. Client devices are capable of executing a variety of different applications, such as various Internet-related applications, communication applications (such as email applications), short message service (SMS) applications, and can use various communication protocols.

[0022] Network 110 can be any type of network familiar to those skilled in the art that can support data communications using any of a variety of available protocols, including without limitation TCP / IP, SNA, IPX, etc. As examples, one or more of networks 110 can be a local area network (LAN), an Ethernet-based network, a token ring, a wide area network (WAN), the Internet, a virtual network, a virtual private network (VPN), an intranet, an extranet, a blockchain network, a public switched telephone network (PSTN), an infrared network, a wireless network (e.g., a Bluetooth, WIFI), and / or any combination of these and / or other networks.

[0023] Server 120 can include one or more general purpose computers, special purpose server computers (e.g., PC (personal computer) servers, UNIX servers, midrange servers), blade servers, mainframe computers, server clusters, or any other appropriate arrangement and / or combination. Server 120 can include one or more virtual machines running a virtual operating system, or other computing architectures involving virtualization (such as one or more flexible pools of logical storage devices that can be virtualized to maintain virtual storage devices for servers). In various embodiments, server 120 can run one or more services or software applications that provide the functionality described below.

[0024] The computing units in the server 120 can run one or more operating systems including any of the operating systems described above, as well as any commercially available server operating systems. Server 120 can also run any of a variety of additional server applications and / or mid-tier applications, including HTTP servers, FTP servers, CGI servers, JAVA servers, database servers, etc.

[0025] In some embodiments, the server 120 can include one or more applications to analyze and consolidate data feeds and / or event updates from users of the client devices 101, 102, 103, 104, 105, and 106. The server 120 can also include one or more applications to display the data feeds and / or real-time events via one or more display devices of the client devices 101, 102, 103, 104, 105, and 106.

[0026] In some embodiments, the server 120 can be a server of a distributed system, or a server combined with a blockchain. The server 120 can also be a cloud server, or an intelligent cloud computing server or intelligent cloud host with artificial intelligence technology. The cloud server is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and virtual private server (VPS, Virtual Private Server) services.

[0027] The system 100 can also include one or more databases 130. In certain embodiments, these databases can be used to store data and other information. For example, one or more of the databases 130 can be used to store navigation curves, road attribute information, etc. The databases 130 can reside in a variety of locations. For example, databases used by the server 120 can reside locally to the server 120, or can be remote from the server 120 and can communicate with the server 120 via a network- or application-specific connection. The databases 130 can be of different types. In certain embodiments, databases used by the server 120 can be, for example, relational databases. One or more of these databases can store, update, and retrieve data to and from the databases in response to commands.

[0028] In certain embodiments, one or more of the databases 130 can also be used by applications to store application data. Databases used by applications can be different types of databases, such as key-value stores, object stores, or regular stores backed by file systems.

[0029] Figure 1The system 100 can be configured and operated in various ways to enable the application of various methods and apparatuses described in accordance with the present disclosure.

[0030] In the related art, existing vehicle navigation systems generally provide the optimal path for the driver based on static or dynamic traffic data. In the scenario where the vehicle is prone to skidding when braking in a straight line on a low-friction coefficient road surface such as ice and snow, the existing system cannot provide dynamic planning and guidance for a safe path under special low-adhesion road conditions, and cannot provide more reasonable path guidance for the driver during deceleration.

[0031] Therefore, according to an embodiment of the present disclosure, a vehicle navigation method is provided. Figure 2 A flowchart of a vehicle navigation method according to an embodiment of the present disclosure is shown in FIG. 2. Figure 2 As shown in FIG. 2, the method 200 includes: in response to determining that the vehicle is driving on a road with a low-friction road surface, determining a first position of the vehicle on the road (step 210); determining a minimum turning radius corresponding to the vehicle and a maximum lateral swing range of the vehicle on the road (step 220); based on the minimum turning radius and the maximum lateral swing range, determining a turning point and a second position (step 230); and based on the first position, the turning point, and the second position, determining to enter a snake driving mode and generating a navigation curve for guiding the vehicle to snake drive on the road, wherein the navigation curve is used to guide the vehicle to turn to a first side at the first position to drive along a to-be-traveled path corresponding to the navigation curve to the turning point and then turn to a second side to continue driving along the to-be-traveled path to the second position, wherein the first side is one of the left side and the right side of the extension direction of the road, and the second side is the other of the left side and the right side of the extension direction of the road (step 240).

[0032] According to an embodiment of the present disclosure, when the driver is driving on a low-friction road surface, the snake driving mode can be automatically entered to generate a reasonable snake path on the low-friction road surface, so that the vehicle disperses the braking force through small-angle steering, avoiding the straight-line braking skid of the vehicle, and improving the driving safety.

[0033] In some embodiments, Figure 3 A schematic diagram of a navigation curve for guiding a vehicle to snake drive according to an embodiment of the present disclosure is shown in FIG. 3. Figure 3 As shown in FIG. 3, the first position can refer to the current real-time positioning coordinate P0 of the vehicle, which can be determined by, for example, a position sensor such as a vehicle-mounted GPS in combination with a high-precision map. The turning point can refer to the outermost side P1 of the snake path, which is the edge of the snake path traveled by the vehicle on the current road or lane.

[0034] On one hand, due to the limited lateral adhesion of the vehicle on the icy road surface, if the planned turning radius is too small, the vehicle may slide or spin due to excessive lateral acceleration, so the minimum turning radius R that the vehicle can maintain stable driving on the low-friction road section can be determined in advance min Constraints are provided for subsequent generation of the serpentine curve path. On the other hand, the maximum lateral swing range of the vehicle in the lane can also be determined based on the front road width and the size of the vehicle itself, to ensure that the generated navigation curve of the serpentine driving does not exceed the road boundary or collide with other lanes. After entering the serpentine driving mode, a navigation curve can be generated based on the three points P0, P1, P2 to guide the vehicle to turn left or right (first side) from the first position P0 to the turning point P1, and then turn to the opposite direction (second side) to P2 to form a serpentine turn. For example, as shown in Figure 3 For example, as shown in the driving direction, the vehicle needs to be guided to turn left from the first position P0 to the turning point P1, and then turn right to P2 to form a serpentine turn. As shown in Figure 3 As shown, the first side and the second side are the two sides of the straight line L formed by connecting P0 and P2.

[0035] Therefore, according to the embodiments of the present disclosure, the path feasibility is guaranteed by the double constraints of the minimum turning radius and the lateral swing range; the serpentine navigation curve is used to disperse the braking pressure, effectively reducing the risk of straight-line braking slip on low-friction road surface, and providing clear steering guidance for the driver, thereby improving the driving safety.

[0036] In some embodiments, after determining the first position, the turning point and the second position, the navigation curve can be generated by function fitting. For example, the navigation curve is generated by parameterized cubic spline interpolation fitting to ensure the smoothness and accuracy of the generated navigation curve.

[0037] According to the embodiments of the present disclosure, whether the road on which the target vehicle drives is a low-friction road is determined by: determining the road surface friction coefficient corresponding to the vehicle driving on the road; obtaining the weather parameter corresponding to the vehicle driving on the road and the road attribute information corresponding to the road; and determining whether the road on which the target vehicle drives is a low-friction road based on the road surface friction coefficient, the road attribute information and the weather parameter.

[0038] In some embodiments, the road surface friction coefficient can refer to a dimensionless parameter measuring the friction between the road surface and the vehicle tires, and can directly reflect the anti-skid performance of the vehicle when driving on the road. It can be understood that the road surface friction data is also affected by factors such as road properties, weather conditions, etc. Therefore, after determining the road surface friction coefficient corresponding to the vehicle driving on the road, the weather parameter and the road property information corresponding to the road are further determined. For example, the weather parameter can be obtained through a meteorological data open platform such as the National Meteorological Bureau, a regional automatic weather station, or a corresponding sensor on the vehicle, to reflect the influence of meteorological conditions on the road surface friction.

[0039] Therefore, through the comprehensive determination logic of each parameter, the false judgment that may exist in single friction coefficient detection is avoided, and the accuracy and reliability of low-friction road identification are significantly improved, thereby providing a premise basis for subsequent snake path planning and navigation guidance.

[0040] According to embodiments of the present disclosure, determining the road surface friction coefficient corresponding to the vehicle driving on the road comprises: obtaining the longitudinal acceleration of the vehicle driving on the road, wherein the longitudinal direction is parallel to the extension direction of the road; and determining the road surface friction coefficient based on the longitudinal acceleration and the gravitational acceleration.

[0041] In some embodiments, the longitudinal direction can refer to a direction parallel to the extension direction of the road, i.e., the front-rear direction of the vehicle when the vehicle normally drives on the road. The longitudinal acceleration can be obtained by a vehicle-mounted longitudinal acceleration sensor, and the unit can be m / s2. The longitudinal acceleration can directly reflect the acceleration generated by the longitudinal interaction force between the road surface and the tire during the braking or acceleration process of the vehicle. The value of the road surface friction coefficient can be calculated by substituting the longitudinal acceleration of the vehicle along the driving direction into the formula = (g is the gravitational acceleration), and the road surface friction coefficient is dimensionless, usually less than 1, and the sampling frequency may, for example, be 10 Hz.

[0042] Therefore, by directly obtaining the longitudinal acceleration through the existing vehicle-mounted sensor and then calculating the road surface friction coefficient, the logic is simple and has strong real-time performance, and the road surface friction coefficient can be quickly and accurately obtained.

[0043] According to embodiments of the present disclosure, when it is determined that the road surface friction coefficient corresponding to the vehicle driving on the road is less than a first threshold value, the weather parameter corresponding to the vehicle driving on the road and the road property information corresponding to the road are obtained.

[0044] In some embodiments, the first threshold value can be a pre-set critical value of the road surface friction coefficient, for example, 0.3. When the friction coefficient calculated by the above formula is less than 0.3, it can be determined that the road surface is a low-friction road. When the friction coefficient is less than or equal to 0.3, it can indicate that the road adhesion has decreased significantly, and it can be a low-friction road surface such as ice and snow. However, since the single friction coefficient is easily disturbed by the instantaneous road conditions, other dimensional information such as weather parameters and road attribute information can be supplemented to improve the accuracy of the determination after the preliminary determination that it can be a low-friction road surface such as ice and snow.

[0045] Therefore, through the preliminary screening of the potential low-friction road surface by the friction coefficient threshold and the supplement of the key environmental and road characteristic parameters, the single index misjudgment rate is effectively reduced, and the accuracy and reliability of the low-friction road surface identification are ensured.

[0046] According to an embodiment of the present disclosure, determining whether the road on which the target vehicle travels is a low-friction road surface based on the road surface friction coefficient, the road attribute information, and the weather parameter includes: standardizing the road surface friction coefficient, the road attribute information, and the weather parameter respectively to obtain the standardized road surface friction coefficient, the standardized road attribute information, and the standardized weather parameter; and performing weighted summation on the values corresponding to the standardized road surface friction coefficient, the standardized road attribute information, and the standardized weather parameter respectively to obtain a driving risk coefficient, wherein the driving risk coefficient is used to represent whether the road on which the target vehicle travels is a low-friction road surface.

[0047] Generally, in some examples, the weight of the road surface friction coefficient is the highest (for example, 0.5), because it is the most direct physical quantity reflecting the state of the vehicle driving on the road surface. The weight of the weather parameter is the second (for example, 0.3), because the weather is also a direct cause of the sudden change of the friction coefficient. The weight of the road attribute can be relatively low (for example, 0.2), which provides a static background risk level.

[0048] Therefore, in some embodiments, the weights can be adjusted according to specific scenarios, for example, in mountainous areas, the weight of the road attribute (including curves, slopes, etc.) can be increased. For example, in the scene of straight road / highway / straight road, etc., the road surface friction coefficient and the weather parameter correspond to a large weight, and the road attribute information corresponds to a small weight. In the scene of many continuous curves, ups and downs of mountainous roads, sharp curves, steep slopes, etc., the weight of the road attribute can be greatly increased; in the scene of detecting emergency braking / ABS activation, the weight of the road surface friction coefficient can be set to be absolutely dominant (such as 0.9).

[0049] Therefore, in some embodiments, a single classification model can be used to analyze all input data (including vehicle CAN bus data) in real time to determine the current driving scenario (e.g., “city commute”, “highway cruise”, “mountain rain and snow”). Then, according to the identified scenario, the most suitable weight combination for the scenario is selected from a pre-defined weight mapping table.

[0050] According to embodiments of the present disclosure, the road attribute information includes at least one of a road type, a road slope, and a road curve curvature; and the weather parameter includes at least one of an air temperature, a precipitation type, and a humidity.

[0051] In some embodiments, whether it is a low-friction road surface can be determined by, for example, a quantitative scoring model based on the road surface friction coefficient, the road attribute information, and the weather parameter. For example, first, each of the road surface friction coefficient, the road attribute information, and the weather parameter can be assigned a respective normalized score. Specifically, if the road surface friction coefficient ≤0.3, indicating that the vehicle has low anti-skid performance when driving on the road surface, the score corresponding to the road surface friction coefficient sub-item can be normalized to 100, for example, so as to increase the proportion of the road surface friction coefficient in determining the driving risk coefficient; otherwise, it can be reduced proportionally, for example =0.4, the score corresponding to the road surface friction coefficient sub-item can be normalized to 75, so as to reduce the proportion of the road surface friction coefficient in determining the driving risk coefficient; =0.5, the score corresponding to the road surface friction coefficient sub-item can be normalized to 50, so as to further reduce the proportion of the road surface friction coefficient in determining the driving risk coefficient, and so on.

[0052] Similarly, in some embodiments, when the road attribute includes a road type, a road slope, and a road curve curvature. Each of the road attribute information can be assigned a respective score value as a sub-item. For example, when the road type of the road on which the vehicle is driving is a bridge or a tunnel, the first sub-item score corresponding to the road attribute information can be assigned a respective score value, otherwise the sub-item is 0; if at the same time, the slope of the road is >5% or the curvature radius is <200m, the second sub-item or the third sub-item score corresponding to the road attribute information can be assigned a respective score value, otherwise the sub-item is 0.

[0053] Similarly, in some embodiments, when the weather parameter includes air temperature, precipitation type, wind information and humidity, for example, if the vehicle is driving on the road, the ambient temperature is ≤0℃ and the duration is ≥10 minutes, the first sub-item score corresponding to the weather parameter can be assigned a corresponding score value, otherwise the sub-item is 0; at the same time, if there is snow or freezing rain or sleet, the second sub-item score corresponding to the weather parameter can be assigned a corresponding score value, otherwise the sub-item is 0; if the wind information indicates that the current wind direction is side-cut wind, and the wind speed is greater than 4 levels, then the third sub-item score corresponding to the weather parameter can be assigned a corresponding score value, otherwise the sub-item is 0; if the air humidity is > 85%, then the fourth sub-item score corresponding to the weather parameter can be assigned a corresponding score value, otherwise the sub-item is 0.

[0054] In some examples, for each sub-item in the traffic attribute information or the weather parameter, when the sub-item feature is a combined feature, for example, the road section is both a city road and a bridge (such as an overpass), each single feature can be assigned a corresponding weight, and the corresponding score value of the sub-item is assigned by addition (or weighted summation).

[0055] Subsequently, in some embodiments, the weighted sum of each standardized sub-item score can be obtained to obtain a driving risk coefficient. For example, the road surface friction coefficient directly reflects the adhesion of the road surface to the vehicle, and the weight value is set to 30%; the road attribute affects the road surface friction and the driving risk, for example, the weight value of the first sub-item corresponding to the road attribute information (i.e., the road type is a bridge or a tunnel) is set to 20%, and the weight of the second sub-item corresponding to the road attribute information (i.e., the slope > 5% or the curvature radius < 200m) is set to 10%. Further, similarly, the weight values of the air temperature, precipitation, and humidity sub-items in the weather parameter can be set to 15%, 15%, and 10%, respectively. In this way, by multiplying each sub-item score by the corresponding weight and adding it up, the driving risk coefficient with a numerical range within a preset range (e.g., between 0 and 100) can be obtained. Through the driving risk coefficient, it can be directly indicated whether the road surface is a low-friction road surface, for example, when the driving risk coefficient is greater than a preset threshold (e.g., ≥60 points), it can be determined that the road surface is a low-friction road surface.

[0056] Therefore, by standardizing the scores of each dimension and weighted summation, the determination of the low-friction road surface is more objective and accurate, effectively avoiding the problem of misjudgment of a single parameter, and providing a reliable basis for the snake path planning.

[0057] According to an embodiment of the present disclosure, determining the minimum turning radius corresponding to the vehicle comprises: obtaining the speed of the vehicle and the maximum tolerable lateral acceleration of the vehicle; and determining the minimum turning radius of the vehicle based on the speed and the maximum tolerable lateral acceleration.

[0058] In some embodiments, the speed of the vehicle can be a real-time speed of the current driving , which can be collected in real time by a vehicle-mounted speed sensor, and the unit can be m / s. When the vehicle is turning, the required centripetal force is provided by the lateral friction of the road surface. When the lateral acceleration exceeds the maximum allowable value, the friction is not enough to maintain the centripetal force, and the vehicle will skid. Therefore, the maximum allowable lateral acceleration may refer to the maximum lateral acceleration that can be supported by the friction between the tire and the road surface during the turning of the vehicle without skidding, and the unit can be The maximum allowable lateral acceleration of the vehicle can be determined during the design of the vehicle, and the value can directly reflect the limit of the turning stability of the vehicle under specific road conditions.

[0059] Then, in some examples, the minimum turning radius of the vehicle can be determined by the formula The radius can be the critical value for the vehicle to keep stable turning under the current state. Therefore, when planning the path, the turning radius of the vehicle can be set to be not less than this value. For example, if the current speed of the vehicle is 15 m / s, the maximum allowable lateral acceleration is , then the calculated minimum turning radius is 75 m. For example, when planning the path, the curvature radius of the serpentine path can be set to be greater than or equal to 75 m to effectively avoid the vehicle from skidding when turning.

[0060] Therefore, the parameters obtained by the existing sensors on the vehicle directly determine the safe critical radius of the vehicle turning, which provides a constraint condition for the generation of the serpentine path, and effectively guarantees the stability when turning on the low-friction road.

[0061] According to embodiments of the present disclosure, the maximum lateral swing range of the vehicle on the road includes: obtaining a vehicle width of the vehicle and a road width of the road; and determining the maximum lateral swing range based on the vehicle width and the road width.

[0062] In some embodiments, the vehicle width can refer to the horizontal distance between the outermost ends of the vehicle body on both sides of the vehicle, which is a fixed parameter of the vehicle. The road width can be the lateral width of the current driving road or lane. Since the vehicle needs to keep safe driving on the road, a safety margin needs to be reserved for the lateral swing to deal with unexpected situations. In some examples, the maximum lateral swing range can be calculated by the formula ≤ , wherein is the maximum lateral swing, is the road width, is the vehicle width, ​The preset safety margin is usually 0.3 m. For example, if the road width is 8 m and the vehicle width is 2 m, the maximum lateral swing is calculated to be less than or equal to 2.7 m, i.e., the swing distance of the vehicle on both sides of the road center line should not exceed 2.7 m.

[0063] In some examples, the maximum lateral swing of the generated snake path can be directly set as . Alternatively, H can be set as ≤ H ≤ , where H can be a preset minimum lateral offset distance, which can be determined based on the size (e.g., length and width) of the vehicle to ensure that the vehicle can generate a reasonable snake path to achieve the purpose of avoiding straight braking skid of the vehicle.

[0064] Therefore, the above calculation method comprehensively considers the road space and the vehicle width, and defines the maximum lateral swing range of the vehicle by reserving a safety margin, thereby providing a basis for the lateral offset constraint of the snake path and ensuring that the path planning meets the safety requirements and fully utilizes the road space.

[0065] According to an embodiment of the present disclosure, determining the first turning point and the second position based on the minimum turning radius and the maximum lateral swing range includes: taking the second position as a new first position to determine a new turning point and a new second position based on the minimum turning radius and the maximum lateral swing range; and generating the navigation curve for guiding the vehicle to travel on the road based on the first position, the turning point and the second position includes: generating the navigation curve based on the new first position, the new turning point and the new second position, wherein two adjacent turning points in the travel direction of the road are located on both sides of a first straight line, and the first straight line is determined by connecting the first position and the second position.

[0066] In some embodiments, when the vehicle travels to the second position of the current path or is expected to travel to the second position of the current path, the second position can be taken as a new first position for planning the next segment of the path, and the same constraint condition is used to determine the next new turning point and the new second position based on the calculated minimum turning radius (to ensure stable turning without skidding) and the maximum lateral swing range (to ensure not to exceed the boundary), so as to realize dynamic continuous planning of the path.

[0067] ​When generating navigation curves to guide vehicle movement, navigation curves generated based on the first position, turning point, and second position, as well as navigation curves generated based on a new first position, a new turning point, and a new second position, can be generated simultaneously or sequentially, without restriction. Specifically, two adjacent turning points in the road's direction of travel are located on either side of the first straight line formed by connecting the first and second positions of the preceding path segment.

[0068] In some embodiments, continue to refer to Figure 3 For example, such as Figure 3 As shown, the initial first position P0 and the second position P2 are connected to form a straight line L. The first turning point P1 is located on the left side of L, while the new turning point P1' determined by P2 as the new first position is located on the right side of L. By fitting the curve with this left-right alternating distribution of turning points, a continuous serpentine path shape can be formed.

[0069] Therefore, a serpentine path can be dynamically generated by iteratively updating the location and alternating the distribution of turning points. This ensures that each path segment meets safety constraints, and by guiding the vehicle to distribute braking force through alternating turns, it effectively reduces the risk of slippage on low-friction surfaces, while also ensuring the continuity of the navigation curve and driving safety.

[0070] According to an embodiment of this disclosure, the navigation curve is displayed on a navigation display interface of the vehicle, wherein the displayed navigation curve has a corresponding icon at the turning point.

[0071] In some embodiments, when displaying a navigation curve on the vehicle's navigation display interface, the latitude and longitude coordinates corresponding to the navigation curve (determined by key nodes such as the first position, turning point, and second position) can first be converted into planar coordinates recognizable by the interface. Then, combined with the current map zoom level, screen resolution, and interface offset, the planar coordinates are mapped to specific screen pixel positions. Finally, a continuous navigation curve is drawn on the real-time map background of the interface, allowing the driver to intuitively see the recommended serpentine driving path. For each turning point on the navigation curve, i.e., the outermost edge of the serpentine path, a specific icon can be displayed at its corresponding screen pixel position to prompt the driver to turn at this point and drive in the central area of ​​the vehicle.

[0072] For example, the icons at the turning points of the navigation curve can be designed as blue snowflakes (e.g., 24×24 pixels in size) with a breathing flashing animation to enhance visual recognition and clearly indicate to the driver that this is a critical point requiring a turn. Furthermore, it can be accompanied by synchronized voice prompts, such as "Currently on an icy road surface, please gently turn the steering wheel to slow down by following the blue path."

[0073] Therefore, through the display mode of curve visualization and turning point icon labeling, the abstract path planning result can be converted into visual information easy for the driver to perceive, the turning time and direction are timely indicated, the operation difficulty under the low friction road surface is reduced, and the effectiveness and safety of the navigation guidance are further improved.

[0074] According to an embodiment of the present disclosure, in response to determining that the vehicle deviates from the to-be-traveled path corresponding to the navigation curve by more than a second threshold value when traveling along the to-be-traveled path, corresponding prompt information is generated.

[0075] In some embodiments, the current position of the vehicle can be monitored in real time by a vehicle-mounted positioning module, and compared with the to-be-traveled path corresponding to the navigation curve. If the deviation distance between the two is greater than a second threshold value, for example, 0.5 meters, corresponding prompt information can be immediately generated. The prompt information can take various forms, for example, it can be in the form of visual and voice: on the navigation display interface, the navigation curve is highlighted and flashed or a text prompt box is popped up to clearly indicate the deviation direction, and at the same time, voice broadcast is triggered to inform the driver in simple instructions, such as “please adjust to the left” or “please adjust to the right”, to ensure that the driver can quickly receive and respond in the complex driving scenario of the low friction road surface.

[0076] Therefore, through real-time position monitoring and threshold determination, timely identification of path deviation can be achieved, and with the help of prompt information, the driver can be effectively guided to return to the recommended path, further ensuring the reliability of the snake-shaped driving guidance under the low friction road surface.

[0077] According to an embodiment of the present disclosure, in response to determining that the driving risk coefficient is less than a third threshold value and the road surface friction coefficient is greater than a fourth threshold value, the snake-shaped driving mode is exited.

[0078] In some embodiments, the third threshold value can be a critical value of the driving risk coefficient for determining that the road surface risk is reduced, and in the driving risk coefficient in the numerical range of 0-100 as described above, the third threshold value can be set to 40, for example; the fourth threshold value can be a critical value representing the recovery of road surface adhesion, which can be set to 0.3, for example. For example, when the driving risk coefficient is less than 40 and the road surface friction coefficient is greater than 0.3, it can be indicated that the road surface has left the low friction state (such as ice and snow melting, dry road surface), and continuing to maintain the snake-shaped driving will affect the traffic efficiency, therefore the snake-shaped path planning can be automatically terminated, and the navigation mode is switched to the conventional straight-line driving guidance.

[0079] In some examples, whether the driving risk coefficient or the road surface friction coefficient is less than or greater than the corresponding threshold value can be determined by multiple sampling. For example, when the road surface friction coefficient obtained in multiple consecutive samplings is greater than the corresponding threshold value, it is considered that the road surface friction coefficient is greater than the corresponding threshold value, thereby filtering out the interference of accidental situations.

[0080] Therefore, the dynamic exit logic determined by the quantitative index can not only timely release the special guidance when the road surface recovers to the safe state, but also take into account the safety of the low-friction road surface and the driving efficiency of the normal road surface.

[0081] According to an embodiment of the present disclosure, as shown in Figure 4 According to an embodiment of the present disclosure, as shown in

[0082] Here, the operations of the above-mentioned units 410-440 of the vehicle navigation device 400 are similar to the operations of the steps 210-240 described above, and will not be described here again.

[0083] In the technical solution of the present disclosure, the collection, storage, use, processing, transmission, provision and disclosure of user personal information involved in the technical solution comply with the relevant legal regulations and do not violate public order and good customs.

[0084] According to an embodiment of the present disclosure, an electronic device, a readable storage medium and a computer program product are also provided.

[0085] Reference is made to Figure 5The present invention describes a structural block diagram of an electronic device 500 that can serve as a server or client of the present disclosure, which is an example of a hardware device that can be applied to various aspects of the present disclosure. The electronic device is intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0086] like Figure 5 As shown, the electronic device 500 includes a computing unit 501, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 502 or a computer program loaded from a storage unit 508 into a random access memory (RAM) 503. The RAM 503 may also store various programs and data required for the operation of the electronic device 500. The computing unit 501, ROM 502, and RAM 503 are interconnected via a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0087] Multiple components in electronic device 500 are connected to I / O interface 505, including: input unit 506, output unit 507, storage unit 508, and communication unit 509. Input unit 506 can be any type of device capable of inputting information to electronic device 500. Input unit 506 can receive input digital or character information and generate key signal inputs related to user settings and / or function control of electronic device, and may include, but is not limited to, a mouse, keyboard, touchscreen, trackpad, trackball, joystick, microphone, and / or remote control. Output unit 507 can be any type of device capable of presenting information, and may include, but is not limited to, a monitor, speaker, video / audio output terminal, vibrator, and / or printer. Storage unit 508 may include, but is not limited to, disk and optical disk. Communication unit 509 allows electronic device 500 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks, and may include, but is not limited to, modems, network cards, infrared communication devices, wireless communication transceivers, and / or chipsets, such as Bluetooth devices, 802.11 devices, WiFi devices, WiMax devices, cellular communication devices, and / or the like.

[0088] The computing unit 501 can be various general and / or special purpose processing components with processing and computing capabilities. Some examples of the computing unit 501 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 501 performs various methods and processes described above, such as the method 200. For example, in some embodiments, the method 200 can be implemented as a computer software program tangibly embodied in a machine-readable medium, such as the storage unit 508. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 500 via the ROM 502 and / or the communication unit 509. When the computer program is loaded onto the RAM 503 and executed by the computing unit 501, one or more steps of the method 200 described above can be performed. Alternatively, in other embodiments, the computing unit 501 can be configured to perform the method 200 by any other suitable means, such as by means of firmware.

[0089] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a complex programmable logic device (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0090] Program code for carrying out methods of the present disclosure can be written in any combination of one or more programming languages. The program code can be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the program code, when executed by the processor or controller, produces a means for implementing the functions / acts specified in the flowcharts and / or block diagrams. The program code can be executed entirely on a machine, partially on a machine, partially on a machine and partially on a remote machine or entirely on a remote machine or server.

[0091] In the context of this disclosure, a machine-readable medium can be a tangible medium that contains or stores a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include but is not limited to an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of the machine-readable storage medium will include one or more lines of electrical connections, portable computer disks, hard disk drives, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or Flash memory), optical fibers, portable compact disc read-only memories (CD-ROMs), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0092] To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the computer. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0093] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), the Internet, and a blockchain network.

[0094] The computer system can include clients and servers. This relationship can be remote or on-site. The servers can be cloud servers, servers of a distributed system, or servers combined with a blockchain.

[0095] It should be understood that the various forms of flow shown above can be used to reorder, add, or delete steps. For example, the steps described in the present disclosure can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved, which are not limited herein.

[0096] Although embodiments or examples of the present disclosure have been described with reference to the accompanying drawings, it should be understood that the above-described methods, systems, and devices are merely exemplary embodiments or examples, and the scope of the present disclosure is not limited by these embodiments or examples, but is only limited by the granted claims and their equivalent scope. Various elements in the embodiments or examples can be omitted or replaced by equivalent elements. In addition, each step can be performed in an order different from that described in the present disclosure. Further, various elements in the embodiments or examples can be combined in various ways. It is important that many of the elements described herein can be replaced by equivalent elements that appear after the present disclosure as technology evolves.

Claims

1. A method for vehicle navigation, comprising: determining a first position of a vehicle on a road with low friction surface in response to determining that the vehicle is driving on the road with low friction surface; determining a minimum turning radius corresponding to the vehicle and a maximum lateral swing range of the vehicle on the road; determining a turning point and a second position based on the minimum turning radius and the maximum lateral swing range; and determining to enter a snake driving mode and generating a navigation curve for guiding the vehicle to snake drive on the road based on the first position, the turning point and the second position. wherein the navigation curve is configured to guide the vehicle to steer to a first side at the first position to drive along a to-be-traveled path corresponding to the navigation curve to the turning point and then steer to a second side to continue driving along the to-be-traveled path to the second position, wherein the first side is one of a left side and a right side of an extending direction of the road, and the second side is the other of the left side and the right side of the extending direction of the road. The method further comprises: determining whether a road on which the target vehicle is driving is a road with low friction surface by: determining a road surface friction coefficient corresponding to the vehicle when the vehicle is driving on the road; obtaining weather parameters corresponding to the vehicle when the vehicle is driving on the road and road attribute information corresponding to the road; and determining whether the road on which the target vehicle is driving is a road with low friction surface based on the road surface friction coefficient, the road attribute information and the weather parameters. The method further comprises: determining the road surface friction coefficient corresponding to the vehicle when the vehicle is driving on the road by: obtaining a longitudinal acceleration of the vehicle when the vehicle is driving on the road, wherein the longitudinal direction is a direction parallel to an extending direction of the road; and determining the road surface friction coefficient based on the longitudinal acceleration and a gravitational acceleration. The method further comprises: obtaining the weather parameters corresponding to the vehicle when the vehicle is driving on the road and the road attribute information corresponding to the road when the road surface friction coefficient corresponding to the vehicle when the vehicle is driving on the road is determined to be less than a first threshold. The method further comprises: determining whether the road on which the target vehicle is driving is a road with low friction surface based on the road surface friction coefficient, the road attribute information and the weather parameters by: standardizing the road surface friction coefficient, the road attribute information and the weather parameters respectively to obtain standardized road surface friction coefficient, standardized road attribute information and standardized weather parameters; and performing weighted summation on values corresponding to the standardized road surface friction coefficient, the standardized road attribute information and the standardized weather parameters respectively to obtain a driving risk coefficient, wherein the driving risk coefficient is configured to represent whether the road on which the target vehicle is driving is a road with low friction surface. 6.The method of claim 5, wherein: the road attribute information comprises at least one of a road type, a road slope and a road curve curvature; and the weather parameters comprise at least one of an air temperature, a precipitation type, wind force information and a humidity. The method further comprises: determining the minimum turning radius corresponding to the vehicle by: obtaining a speed of the vehicle and a maximum tolerable lateral acceleration of the vehicle; and 2. The method of claim 1, wherein, ​ ​ ​ ​ ​ 3. The method of claim 2, wherein, ​ ​ ​ 4. The method of claim 2 or 3, wherein, ​ 5. The method of claim 2 or 3, wherein, ​ ​ ​ ​ ​ ​ 7. The method of claim 1, wherein, ​ ​ determine a minimum turning radius of the vehicle based on the speed and the maximum tolerable lateral acceleration.

8. The method of claim 1, wherein, the maximum lateral swing range of the vehicle on the road comprises: obtain a vehicle width of the vehicle and a road width of the road; and determine the maximum lateral swing range based on the vehicle width and the road width.

9. The method of claim 1, wherein determining the first turning point and the second position based on the minimum turning radius and the maximum lateral swing range comprises: taking the second position as a new first position to determine a new turning point and a new second position based on the minimum turning radius and the maximum lateral swing range; generating the navigation curve for guiding the vehicle to travel on the road based on the first position, the turning point and the second position comprises: generating the navigation curve based on the new first position, the new turning point and the new second position, wherein two adjacent turning points in a travel direction of the road are located on two sides of a first straight line respectively, and the first straight line is determined by connecting the first position and the second position.

10. The method of claim 1, further comprising: displaying the navigation curve on a display interface for navigation of the vehicle, wherein the displayed navigation curve is displayed with a corresponding icon at the turning point.

11. The method of claim 1, wherein in response to determining that the vehicle deviates from the to-be-traveled path by more than a second threshold value when traveling along the to-be-traveled path corresponding to the navigation curve, generating a corresponding prompt information.

12. The method of claim 5, wherein in response to determining that the driving risk coefficient is less than a third threshold value and the road surface friction coefficient is greater than a fourth threshold value, exiting the snake travel mode.

13. A vehicle navigation device, comprising: a first determining module configured to determine a first position of a vehicle on a road in response to determining that the vehicle travels on the road with low friction; a second determining module configured to determine a minimum turning radius of the vehicle and a maximum lateral swing range of the vehicle on the road; a third determining module configured to determine a turning point and a second position based on the minimum turning radius and the maximum lateral swing range; and a curve generating module configured to determine to enter a snake travel mode and generate a navigation curve for guiding the vehicle to snake travel on the road based on the first position, the turning point and the second position, wherein the navigation curve is used to guide the vehicle to turn to a first side at the first position to travel along a to-be-traveled path corresponding to the navigation curve to the turning point and then turn to a second side to continue to travel along the to-be-traveled path to the second position, wherein the first side is one of a left side and a right side of an extension direction of the road, and the second side is the other of the left side and the right side of the extension direction of the road.

14. An electronic device, comprising: at least one processor; and a memory communicatively connected with the at least one processor; wherein ​ The memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-12.

15. A non-transitory computer readable storage medium having stored thereon computer instructions, wherein, The computer instructions are for causing the computer to perform the method of any one of claims 1-12.

16. A computer program product comprising a computer program, wherein, The computer program, when executed by a processor, implements the method of any one of claims 1-12.

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