Vehicle navigation method and device
By acquiring vehicle sensor data and road information, identifying the clearance dimensions of target road sections, analyzing whether vehicles can pass, and replanning navigation routes, the problem of drivers having difficulty judging when vehicles can pass through narrow road sections is solved, reducing the risk of collisions and optimizing navigation.
Patent Information
- Application Number
- CN202511498440.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-20
- Publication Date
- 2026-01-20
AI Technical Summary
Drivers often struggle to accurately determine whether a vehicle can pass through road sections with height or width restrictions or obstacles that impede passage, leading to frequent minor collisions.
By acquiring valid environmental data and road location information collected by sensors of one or more first vehicles, the passage size of the target road segment is determined, and the passage of the second vehicle is analyzed based on its size. If the second vehicle cannot pass, the navigation route is replanned.
It reduces the risk of vehicle collisions, avoids traffic accidents caused by narrow roads, optimizes navigation routes, and improves travel efficiency.
Smart Images
Figure CN121363967A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the field of vehicle navigation technology, and in particular to a vehicle navigation method and device. BACKGROUND
[0002] During driving, the driver often passes through the road section with height limit, width limit or obstacle which hinders the traffic. In these road sections, the driver is difficult to accurately determine whether the vehicle can pass normally, and the scratch event occurs frequently. SUMMARY
[0003] Therefore, the embodiments of the present application provide a vehicle navigation method and device, which can reduce the risk of vehicle scratch and avoid traffic accidents caused by narrow road.
[0004] To achieve the above object, according to an aspect of the embodiments of the present application, a vehicle navigation method is provided, comprising:
[0005] obtaining the environment effective data collected by the sensor of one or more first vehicles, the first vehicle size and the road position information corresponding to the above-mentioned environment effective data;
[0006] for each of the above-mentioned road position information, when the record number of the above-mentioned environment effective data corresponding to the above-mentioned road position information reaches a preset number threshold, determining the target passing size of the target road section corresponding to the above-mentioned road position information according to the above-mentioned environment effective data and the above-mentioned first vehicle size;
[0007] determining the target navigation route of the second vehicle including the target road section and determining the second vehicle size of the second vehicle; analyzing whether the second vehicle can pass through the target road section according to the target passing size and the second vehicle size of the second vehicle, and in the case that the second vehicle cannot pass through the target road section, re-planning the navigation route and providing the re-planned navigation route to the second vehicle or sending the instruction indicating the re-planned navigation route to the second vehicle.
[0008] Optionally, the above-mentioned first vehicle size includes the first vehicle width and the first vehicle height;
[0009] The above-mentioned obtaining the environment effective data collected by the sensor of one or more first vehicles comprises:
[0010] receiving the sensor environment data uploaded by one or more first vehicles within a preset time period before meeting the data collection condition and the sensor environment data meeting the data collection condition; wherein the data collection condition is that the driving time of the first vehicle at a speed lower than a preset speed threshold is greater than a preset driving time threshold;
[0011] extract environment effective data from the sensor environment data; the environment effective data satisfies that a difference between a passable width of a road section corresponding to the environment effective data and the first vehicle width is less than or equal to a first preset value, and / or, a difference between a passable height of the road section and the first vehicle height is less than or equal to a second preset value.
[0012] Optionally, the target passable dimension includes a target passable width and a target passable height.
[0013] The target passable dimension of the target road section corresponding to the road position information is determined by:
[0014] The average of the passable widths of the road sections corresponding to the environment effective data is taken as the target passable width of the target road section.
[0015] and / or,
[0016] The average of the passable heights of the road sections corresponding to the environment effective data is taken as the target passable height of the target road section.
[0017] Optionally, the method further includes: constructing a vehicle database including an association between a vehicle model and a vehicle dimension in advance.
[0018] The second vehicle dimension of the second vehicle is determined by:
[0019] The second vehicle model of the second vehicle is obtained.
[0020] The second vehicle dimension corresponding to the second vehicle model is searched in the vehicle database.
[0021] Optionally, the second vehicle dimension includes a second vehicle width and a second vehicle height.
[0022] The second vehicle is analyzed whether to be able to pass through the target road section according to the target passable dimension and the second vehicle dimension of the second vehicle, including:
[0023] It is identified whether a difference between the target passable width and the second vehicle width is greater than or equal to a third preset value, and whether a difference between the target passable height and the second vehicle height is greater than or equal to a fourth preset value.
[0024] In a case that the difference between the target passable width and the second vehicle width is greater than or equal to the third preset value and the difference between the target passable height and the second vehicle height is greater than or equal to the fourth preset value, it is determined that the second vehicle is able to pass through the target road section.
[0025] In a case that a difference between the target passing width and the second vehicle width is less than the third preset value or a difference between the target passing height and the second vehicle height is less than the fourth preset value, it is determined that the second vehicle cannot pass the target road section.
[0026] Optionally, the method further comprises: in a case that the second vehicle can pass the target road section and the target road section is a narrow road relative to the second vehicle, generating prompt information that the target navigation route has a narrow road.
[0027] Optionally, the method further comprises: marking the target passing size of the target road section in a navigation map.
[0028] To achieve the above object, according to another aspect of the embodiments of the present application, a vehicle navigation device is provided, comprising:
[0029] a obtaining module, configured to obtain environment effective data collected by a sensor of one or more first vehicles, first vehicle sizes, and road position information corresponding to the environment effective data;
[0030] a first determining module, configured to, for each piece of road position information, when a record number of the environment effective data corresponding to the road position information reaches a preset number threshold, determine a target passing size of a target road section corresponding to the road position information according to the environment effective data and the first vehicle sizes;
[0031] a second determining module, configured to determine a target navigation route of a second vehicle including the target road section, and determine a second vehicle size of the second vehicle;
[0032] an analyzing module, configured to analyze whether the second vehicle can pass the target road section according to the target passing size and the second vehicle size of the second vehicle, and in a case that the second vehicle cannot pass the target road section, re-plan a navigation route and provide the re-planned navigation route to the second vehicle or send an instruction indicating the re-planned navigation route to the second vehicle.
[0033] To achieve the above object, according to another aspect of the embodiments of the present application, an electronic device for vehicle navigation is provided.
[0034] The electronic device for vehicle navigation comprises one or more processors, and a storage device configured to store one or more programs, when the one or more programs are executed by the one or more processors, the one or more processors implement a vehicle navigation method according to an embodiment of the present application.
[0035] To achieve the above object, according to another aspect of the embodiment of the present application, a computer readable storage medium is provided.
[0036] The computer readable storage medium of the embodiment of the present application has a computer program stored thereon, and the program is executed by a processor to implement the vehicle navigation method of the embodiment of the present application.
[0037] The embodiment of the above application has the following advantages or beneficial effects: by acquiring the environmental effective data collected by the sensor of one or more first vehicles, the size of the first vehicle and the road position information corresponding to the environmental effective data; for each road position information, when the number of records of the environmental effective data corresponding to the road position information reaches a preset number threshold, the target passing size of the target section corresponding to the road position information is determined; for a second vehicle, a target navigation route including the target section is determined; according to the target passing size and the size of the second vehicle, it is analyzed whether the second vehicle can pass through the target section, and in the case that the second vehicle cannot pass through the target section, the navigation route is re-planned, which realizes the automatic identification of the target passing size of the target section, can reduce the risk of scratching of the second vehicle, avoid traffic accidents caused by narrow roads, and at the same time, can optimize the navigation route in the case that the second vehicle cannot pass through the target section, and improve the travel efficiency.
[0038] The further effects of the above non-conventional optional mode will be described in the following in combination with the specific embodiments. BRIEF DESCRIPTION OF DRAWINGS
[0039] The accompanying drawings serve to better understand the present application and do not constitute an improper limitation on the present application. Among them:
[0040] Figure 1 is a flowchart of the vehicle navigation method according to the embodiment of the present application;
[0041] Figure 2 is a schematic diagram of the first vehicle in a closed road according to the embodiment of the present application;
[0042] Figure 3 is a flowchart of analyzing whether the second vehicle can pass through the target section according to the embodiment of the present application;
[0043] Figure 4 is a flowchart of the vehicle navigation method according to another embodiment of the present application;
[0044] Figure 5 is a schematic diagram of the main modules of the vehicle navigation device according to the embodiment of the present application;
[0045] Figure 6 is an exemplary system architecture diagram to which the embodiment of the present application can be applied;
[0046] Figure 7 is a structural schematic diagram of a computer system of a vehicle navigation method or a vehicle navigation device suitable for implementing embodiments of the present application. DETAILED DESCRIPTION
[0047] Exemplary embodiments of the present application are described below with reference to the accompanying drawings, which include various details of the embodiments of the present application to assist in understanding them. These should be considered as merely exemplary. Therefore, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the application. Also, for the sake of brevity and clarity, descriptions of well-known functions and constructions are omitted from the following description.
[0048] It should be noted that the embodiments of the present application and the technical features in the embodiments can be combined with each other without conflict.
[0049] As shown in Figure 1 The vehicle navigation method of the embodiments of the present application mainly includes the following steps S101-S104:
[0050] Step S101, acquiring environmental effective data collected by a sensor of one or more first vehicles, first vehicle size, and road position information corresponding to the environmental effective data;
[0051] The sensor of the first vehicle includes, but is not limited to, a millimeter wave radar sensor, a laser radar sensor, and an image sensor, etc., which can be used to identify the distance between the vehicle body and the surrounding obstacles and the road width and other data.
[0052] The sensor pre-set on the first vehicle body can collect the data of the environment in which it is located in real time, and at the same time, record the road position information corresponding to the collected data during the data collection process. The source of the above road position information can be a navigation unit of the first vehicle.
[0053] The first vehicle size can include the first vehicle width and / or the first vehicle height.
[0054] In the embodiments of the present application, when it is detected that the vehicle speed of the vehicle (i.e., the first vehicle) in the road is lower than a preset speed threshold (e.g., 10 km / h, etc.), a "narrow lane recognition mode" for collecting road data can be triggered to identify and collect the distance between the vehicle and the road boundary and / or the height data of the vehicle and the above obstacles, etc.
[0055] Step S102, for each road position information, when the number of records of the environmental effective data corresponding to the road position information reaches a preset number threshold, determining the target passing size of the target section corresponding to the road position information according to the environmental effective data and the first vehicle size;
[0056] To avoid data errors in the valid environmental data of road location information, the number of valid environmental data records for each road location can be counted. Specifically, the count of valid environmental data records includes incrementing the record count by 1 for each valid environmental data record of a first vehicle acquired for each road location. It is understandable that the same first vehicle may repeatedly pass through a certain road at different times, thus multiple valid environmental data records uploaded by the same first vehicle for a single road location can be acquired at different times. When the number of records (valid data) for a certain location reaches a preset threshold (e.g., 50 records), the road segment corresponding to that location can be marked as a "narrow alley" to further determine the road segment data.
[0057] The target passage size refers to the dimensions that vehicles are allowed to pass through on a target road segment. Generally, the target passage size includes the target passage width and / or the target passage height. For example, when the target road segment is an open road with fallen rocks affecting normal vehicle passage, but there are no objects at the road surface height that affect normal vehicle passage, the target passage size of the target road segment is the target passage width. When the target road segment has height-restricted objects, but there are no objects at the road surface width that affect normal vehicle passage, the target passage size of the target road segment is the target passage height. When the target road segment is a tunnel road, with tunnel walls that restrict width at both the road surface width and tunnel roofs that restrict height at both the road surface height, the target passage size of the target road segment includes both the target passage width and the target passage height.
[0058] Step S103: Determine the target navigation route of the second vehicle, including the target road segment, and determine the second vehicle size;
[0059] The target navigation route can be generated by the execution subject in this embodiment of the invention, or it can be obtained by the execution subject from the navigation unit of the second vehicle or actively sent to the execution subject by the second vehicle.
[0060] As an example, the execution entity of this embodiment of the invention can provide navigation planning function for the second vehicle and extract the target navigation route including the target road segment from the generated navigation route; when the target navigation route is actively sent to the execution entity by the second vehicle, when the navigation unit of the second vehicle generates the navigation route, the second vehicle can identify and extract the target navigation route including the target road segment from it and send it to the execution entity.
[0061] The second vehicle dimensions may include the second vehicle width and / or the second vehicle height.
[0062] Optionally, the second vehicle and the first vehicle may be the same vehicle or different vehicles.
[0063] In step S104, it is analyzed whether the second vehicle can pass through the target road section according to the target passing size and the second vehicle size of the second vehicle, and in the case that the second vehicle cannot pass through the target road section, a navigation route is re-planned and provided to the second vehicle or an instruction indicating the re-planned navigation route is sent to the second vehicle.
[0064] When the target passing size is the target passing width, it is determined whether the second vehicle can safely pass through the target road section by the target passing width and the second vehicle width; when the target passing size is the target passing height, it is determined whether the second vehicle can safely pass through the target road section by the target passing height and the second vehicle height; when the target passing size is the target passing width and the target passing height, it is determined whether the second vehicle can safely pass through the target road section by the target passing width and the second vehicle width, the target passing height and the second vehicle height.
[0065] When the number of target road sections in the target navigation route is greater than 1, it is necessary to determine whether the second vehicle can pass through each target road section respectively.
[0066] When the execution subject has a navigation planning capability, the execution subject can re-plan a navigation route for the second vehicle and provide the re-planned navigation route to the second vehicle; the execution subject can issue an instruction of the re-planned navigation route to the second vehicle, so that the second vehicle re-plans the navigation route through a navigation unit thereof.
[0067] Further, in the re-planning of the navigation route, a navigation route that can avoid the target road section is preferentially selected. Here, the avoided target road section can not only include the target road section existing in the above target navigation route, but can further include other target road sections.
[0068] In an optional embodiment, the above-mentioned obtaining of the environment effective data collected by the sensor of the one or more first vehicles comprises: receiving the sensor environment data uploaded by the one or more first vehicles within a preset time period before the data collection condition is met and the sensor environment data meeting the data collection condition; wherein the data collection condition can be that the driving time of the first vehicle at a speed lower than a preset speed threshold is greater than a preset driving time threshold; extracting environment effective data from the above-mentioned sensor environment data; the above-mentioned environment effective data meets that the difference between the passable width of the corresponding road section and the width of the first vehicle is less than or equal to a first preset value, and / or the difference between the passable height of the road section and the height of the first vehicle is less than or equal to a second preset value.
[0069] It can be understood that when the speed of the first vehicle is lower than the preset speed threshold and the driving time under the speed lower than the preset speed threshold is greater than the preset driving time threshold, the first vehicle can be on a road with poor traffic conditions, and the first vehicle can collect sensor environment data through sensors.
[0070] The sensor environment data can include a distance between the left side of the first vehicle and the left side obstacle, a distance between the right side of the first vehicle and the right side obstacle, and / or a distance between the roof of the first vehicle and the obstacle above the vehicle. Here, the obstacle includes rockfall, trees, walls, height limit rods, width limit piers, etc. As an example, when the first vehicle is driving in a top open alley road, the sensor environment data can include a distance between the left side of the first vehicle and the left side wall, and a distance between the right side of the first vehicle and the right side wall; when the first vehicle is driving in a tunnel, the sensor environment data can include a distance between the left side of the first vehicle and the left side wall, a distance between the right side of the first vehicle and the right side wall, and a distance between the roof of the first vehicle and the top of the tunnel above the vehicle.
[0071] The time satisfying the data collection condition is taken as a target time point, and the first vehicle can upload the sensor environment data in a preset time period before the target time point and the sensor environment data in a time period starting from the target time point until the time when the data collection condition is no longer satisfied to the execution subject. The execution subject receives the above-mentioned sensor environment data, and extracts environment effective data from the sensor environment data according to the size of the first vehicle.
[0072] Further, based on the environment effective data and the size of the first vehicle, the passable width of the road section and / or the passable height of the road section can be calculated. Specifically, the passable width of the road section is equal to the sum of the width of the first vehicle and the distance between the left side of the first vehicle and the left side obstacle, the distance between the right side of the first vehicle and the right side obstacle, and / or the distance between the roof of the first vehicle and the obstacle above the vehicle; the passable height of the road section is equal to the sum of the height of the first vehicle and the distance between the roof of the first vehicle and the obstacle above the vehicle. As shown in Figure 2 M1 represents the width of the first vehicle, M2 represents the distance between the left side of the first vehicle and the left side obstacle; M3 represents the distance between the right side of the first vehicle and the right side obstacle; H1 represents the height of the first vehicle; and H2 represents the distance between the roof of the first vehicle and the obstacle above the vehicle.
[0073] After the passable width of the road section is determined, it can be determined whether the difference between the passable width of the road section and the first vehicle width is less than or equal to a first preset value and whether the difference between the passable height of the road section and the first vehicle height is less than or equal to a second preset value. If the difference between the passable width of the road section and the first vehicle width is less than or equal to the first preset value, it indicates that the passable width of the road section is small, which may affect the normal driving of the first vehicle, and therefore the corresponding sensor environment data is taken as the environment effective data. If the difference between the passable height of the road section and the first vehicle height is less than or equal to the second preset value, it indicates that the passable height of the road section is small, which may affect the normal driving of the first vehicle, and therefore the corresponding sensor environment data is taken as the corresponding environment effective data. If the difference between the passable width of the road section and the first vehicle width is greater than the first preset value, the corresponding environment sensor data does not need to be taken as the environment effective data. If the difference between the passable height of the road section and the first vehicle height is greater than the second preset value, the corresponding environment sensor data does not need to be taken as the environment effective data.
[0074] The first preset value and the second preset value can be set according to specific circumstances, which are not limited here. As an example, the first preset value can be 60 cm; and the second preset value can be 50 cm.
[0075] In an optional embodiment, the above-mentioned determination of the target passable size of the target road section corresponding to the road location information includes: taking the average value of the passable width of the road section corresponding to the environment effective data as the target passable width of the target road section; and / or taking the average value of the passable height of the road section corresponding to the environment effective data as the target passable height of the target road section.
[0076] By performing data statistics on the environment effective data, in the case involving the passable width of the road section, the target passable width of the target road section is calculated according to the passable width of the road section corresponding to the environment effective data; and in the case involving the passable height of the road section, the target passable height of the target road section is calculated according to the passable height of the road section corresponding to the environment effective data. Moreover, the target road section can be marked as a narrow road based on the road location information of the target road section.
[0077] The calculation method of the passable width of the road section can be calculated by the environment effective data and the first vehicle size, which can be referred to the above content and will not be repeated here.
[0078] In an optional embodiment, the above-mentioned method further includes: constructing a vehicle database containing the association relationship between the vehicle model and the vehicle size in advance. The vehicle size includes the vehicle width and the vehicle height.
[0079] As an example, the association relationship between the vehicle model and the vehicle size in the vehicle database can be as shown in Table 1,
[0080]
[0081] The second vehicle size of the second vehicle is determined by obtaining a second vehicle model of the second vehicle, and searching the vehicle database to obtain a second vehicle size corresponding to the second vehicle model, so as to determine a second vehicle width and a second vehicle height of the second vehicle.
[0082] In an optional embodiment, as shown in Figure 3 According to the target passing size and the second vehicle size of the second vehicle, it is analyzed whether the second vehicle can pass the target road section, including the following steps S301-S303:
[0083] In step S301, it is determined whether the difference between the target passing width and the second vehicle width is greater than or equal to a third preset value, and whether the difference between the target passing height and the second vehicle height is greater than or equal to a fourth preset value.
[0084] The third preset value can be the same as or different from the first preset value, and the fourth preset value can be the same as or different from the second preset value. By setting the third preset value and the fourth preset value, sufficient safety buffer space is reserved for the second vehicle to pass the target road section, and the uncertainty of driving causes the second vehicle to scratch the obstacles on both sides or the top of the target road section.
[0085] In step S302, it is determined that the second vehicle can pass the target road section when the difference between the target passing width and the second vehicle width is greater than or equal to the third preset value, and the difference between the target passing height and the second vehicle height is greater than or equal to the fourth preset value.
[0086] In step S303, it is determined that the second vehicle cannot pass the target road section when the difference between the target passing width and the second vehicle width is less than the third preset value, or the difference between the target passing height and the second vehicle height is less than the fourth preset value.
[0087] In an optional embodiment, the method further includes generating prompt information indicating that there is a narrow road in the target navigation route when the second vehicle can pass the target road section and the target road section is a narrow road relative to the second vehicle.
[0088] The target road section is determined to be a narrow road for the second vehicle according to the second vehicle size and the target passing size of the target road section. Specifically, when the difference between the target passing width of the target passing road section and the first vehicle width is less than or equal to a first preset value, or the difference between the target passing height and the first vehicle height is less than or equal to a second preset value, it is indicated that the target road section is a narrow road for the second vehicle.
[0089] The second vehicle driver can be informed of the road conditions in time, and sufficient preparation for passing the target road section can be made in advance, so as to improve the passing safety and efficiency of the target road section.
[0090] In an optional embodiment, the method further includes: marking the target passing size of the target road section in the navigation map.
[0091] After the target road section is determined, the target road section can be marked in the navigation map, and the corresponding target passing size can be marked for each target road section. The navigation map with the target road section and the target passing size marked is updated to the second vehicle, so that the driver of the second vehicle can intuitively understand the target road section in the navigation map and carefully select a navigation route.
[0092] According to the vehicle navigation method, the environmental effective data collected by the sensor of one or more first vehicles, the first vehicle size, and the road position information corresponding to the environmental effective data are acquired, the target passing size of the target road section corresponding to each road position information is determined when the number of records of the environmental effective data corresponding to the road position information reaches a preset number threshold, the target navigation route including the target road section is determined for the second vehicle, and whether the second vehicle can pass the target road section is analyzed according to the target passing size and the second vehicle size. In the case that the second vehicle cannot pass the target road section, the navigation route is re-planned, the target passing size of the target road section is automatically identified, the risk of scratching of the second vehicle is reduced, the traffic accident caused by the narrow road is avoided, and the navigation route is optimized in the case that the second vehicle cannot pass the target road section, so as to improve the travel efficiency.
[0093] The vehicle navigation method is further described below through a specific embodiment.
[0094] As shown in Figure 4 The vehicle navigation method includes the following steps S401-S407:
[0095] Step S401, receiving sensor environment data uploaded by one or more first vehicles within a preset time period before meeting a data collection condition and sensor environment data meeting the data collection condition; wherein the data collection condition is that the driving time of the first vehicle at a speed lower than a preset speed threshold is greater than a preset driving time threshold;
[0096] Step S402, extracting environment effective data from the above-mentioned sensor environment data; the environment effective data meets the condition that the difference between the passable width of the road section corresponding to the environment effective data and the width of the first vehicle is less than or equal to a first preset value, and / or the difference between the passable height of the road section and the height of the first vehicle is less than or equal to a second preset value;
[0097] Step S403, for each of the road location information, when the number of records of the environment effective data corresponding to the road location information reaches a preset number threshold, determining the target passable size of the target road section corresponding to the road location information according to the environment effective data and the size of the first vehicle;
[0098] The target passable size includes a target passable width and a target passable height.
[0099] Specifically, the average of the passable widths of the road sections corresponding to the environment effective data is taken as the target passable width of the target road section. The average of the passable heights of the road sections corresponding to the environment effective data is taken as the target passable height of the target road section.
[0100] Wherein, the passable width of the road section is equal to the sum of the width of the first vehicle and the distances of the left side of the vehicle body from the left side obstacle, the right side of the vehicle body from the right side obstacle and / or the distance of the roof from the obstacle above the vehicle. The passable height of the road section is equal to the sum of the height of the first vehicle and the distance of the roof from the obstacle above the vehicle.
[0101] The target passable size of the target road section is marked in the navigation map. Preferably, information such as “narrow road ahead, please drive carefully” can also be added to the target road section in the map to prompt the driver.
[0102] Step S404, determining a target navigation route of a second vehicle including the target road section, and determining a second vehicle size of the second vehicle;
[0103] Wherein, the second vehicle size can include a second vehicle width and / or a second vehicle height.
[0104] Step S405, identifying whether the difference between the target passable width and the second vehicle width is greater than or equal to a third preset value, and whether the difference between the target passable height and the second vehicle height is greater than or equal to a fourth preset value;
[0105] In the case that the difference between the target passing width and the second vehicle width is greater than or equal to the third preset value and the difference between the target passing height and the second vehicle height is greater than or equal to the fourth preset value, Y, it is determined that the second vehicle can pass the target section, and step S406 is entered; in the case that the difference between the target passing width and the second vehicle width is less than the third preset value or the difference between the target passing height and the second vehicle height is less than the fourth preset value, N, it is determined that the second vehicle cannot pass the target section, and step S407 is entered.
[0106] In step S406, it is determined whether the target section is a narrow road relative to the second vehicle according to the second vehicle size and the target passing size of the target section; in the case that the target section is a narrow road relative to the second vehicle, prompt information that there is a narrow road in the target navigation route is generated; in the case that the target section is not a narrow road relative to the second vehicle, the prompt information does not need to be generated.
[0107] In step S407, the navigation route is re-planned, and the re-planned navigation route is provided to the second vehicle or an instruction indicating the re-planned navigation route is sent to the second vehicle.
[0108] According to the vehicle navigation method, the environmental effective data collected by the sensors of one or more first vehicles, the first vehicle size and the road position information corresponding to the environmental effective data are acquired; for each road position information, when the number of records of the environmental effective data corresponding to the road position information reaches a preset number threshold, the target passing size of the target section corresponding to the road position information is determined; for the second vehicle, the target navigation route including the target section is determined; and according to the target passing size and the second vehicle size, it is analyzed whether the second vehicle can pass the target section, and in the case that the second vehicle cannot pass the target section, the navigation route is re-planned, so that the target passing size of the target section is automatically identified, the risk of scratching of the second vehicle is reduced, the traffic accidents caused by narrow roads are avoided, and in the case that the second vehicle cannot pass the target section, the navigation route is optimized, and the travel efficiency is improved.
[0109] As Figure 5As shown, the vehicle navigation device 500 of the embodiment of the present application comprises: an acquisition module 501 configured to acquire environmental effective data collected by sensors of one or more first vehicles, first vehicle dimensions, and road location information corresponding to the environmental effective data; a first determination module 502 configured to, for each piece of road location information, when the number of records of the environmental effective data corresponding to the road location information reaches a preset number threshold, determine a target passing dimension of a target road section corresponding to the road location information according to the environmental effective data and the first vehicle dimensions; a second determination module 503 configured to determine a target navigation route of a second vehicle including the target road section, and determine second vehicle dimensions of the second vehicle; and an analysis module 504 configured to analyze whether the second vehicle can pass through the target road section according to the target passing dimension and the second vehicle dimensions of the second vehicle, and in the case that the second vehicle cannot pass through the target road section, re-plan a navigation route and provide the re-planned navigation route to the second vehicle or send an instruction indicating the re-planned navigation route to the second vehicle.
[0110] In an optional embodiment of the present application, the first vehicle dimensions include a first vehicle width and a first vehicle height. The acquisition module 501 is further configured to receive sensor environmental data of one or more first vehicles uploaded within a preset time period before a data collection condition is met and sensor environmental data meeting the data collection condition; wherein the data collection condition is that the driving time of the first vehicle at a vehicle speed lower than a preset vehicle speed threshold is greater than a preset driving time threshold; extract environmental effective data from the sensor environmental data; and the environmental effective data meets a condition that the difference between the passable width of the road section corresponding to the environmental effective data and the first vehicle width is less than or equal to a first preset value, and / or the difference between the passable height of the road section and the first vehicle height is less than or equal to a second preset value.
[0111] In an optional embodiment of the present application, the target passing dimension includes a target passing width and a target passing height.
[0112] The first determination module 502 is further configured to take the average value of the passable width of the road section corresponding to the environmental effective data as the target passing width of the target road section; and / or take the average value of the passable height of the road section corresponding to the environmental effective data as the target passing height of the target road section.
[0113] In an optional embodiment of the present application, the vehicle navigation device 500 further comprises a construction module configured to pre-construct a vehicle database containing the association relationship between vehicle models and vehicle dimensions.
[0114] The second determining module 503 is configured to acquire a second vehicle model of the second vehicle, and search for second vehicle dimensions corresponding to the second vehicle model in the vehicle database.
[0115] In an optional embodiment of the present application, the second vehicle dimensions include a second vehicle width and a second vehicle height.
[0116] The analysis module 504 is configured to identify whether a difference between the target passing width and the second vehicle width is greater than or equal to a third preset value, and whether a difference between the target passing height and the second vehicle height is greater than or equal to a fourth preset value, determine that the second vehicle can pass the target road section when the difference between the target passing width and the second vehicle width is greater than or equal to the third preset value and the difference between the target passing height and the second vehicle height is greater than or equal to the fourth preset value, and determine that the second vehicle cannot pass the target road section when the difference between the target passing width and the second vehicle width is less than the third preset value or the difference between the target passing height and the second vehicle height is less than the fourth preset value.
[0117] In an optional embodiment of the present application, the analysis module 504 is configured to generate prompt information indicating that there is a narrow road in the target navigation route when the second vehicle can pass the target road section and the target road section is a narrow road relative to the second vehicle.
[0118] In an optional embodiment of the present application, the vehicle navigation device 500 further includes a marking module configured to mark the target passing dimensions of the target road section in a navigation map.
[0119] The vehicle navigation device according to the embodiments of the present application acquires the environmental effective data collected by the sensors of one or more first vehicles, the first vehicle dimensions, and the road position information corresponding to the environmental effective data, determines the target passing dimensions of the target road section corresponding to each piece of road position information when the number of records of the environmental effective data corresponding to the road position information reaches a preset number threshold, determines the target navigation route including the target road section for a second vehicle, and analyzes whether the second vehicle can pass the target road section according to the target passing dimensions and the second vehicle dimensions, and re-plans the navigation route when the second vehicle cannot pass the target road section, thereby realizing automatic identification of the target passing dimensions of the target road section, reducing the risk of scratching of the second vehicle, avoiding traffic accidents caused by narrow roads, and optimizing the navigation route when the second vehicle cannot pass the target road section, thereby improving travel efficiency.
[0120] Figure 6An exemplary system architecture 600 of a vehicle navigation method or a vehicle navigation device to which embodiments of the present application can be applied is shown.
[0121] As shown in Figure 6 , the system architecture 600 can include first vehicles 601, 602, 603, a network 604, a server 605 and second vehicles 606, 607, 608. The network 604 is a medium to provide communication links between the first vehicles 601, 602, 603 and the server 605, and between the server 605 and the second vehicles 606, 607, 608. The network 604 can include various connection types, such as wired, wireless communication links or fiber optic cables, etc.
[0122] The first vehicles 601, 602, 603 and the second vehicles 606, 607, 608 can interact with the server 605 through the network 604 to receive or send data, etc. The first vehicles 601, 602, 603 and the second vehicles 606, 607, 608 can be any type of cars, such as new energy cars, fuel cars, trucks, buses, cars, etc.
[0123] The server 605 can be a server providing various services, such as a background management server providing support for the environmental effective data collected by the first vehicles 601, 602, 603. The background management server can analyze and process the environmental effective data, the first vehicle size and the road location information corresponding to the above-mentioned environmental effective data, to obtain a target passing size of a target road section, and determine whether the second vehicle can pass through the target road section based on the above-mentioned target passing size, and send the processing result (such as a re-planned navigation route in the case that the second vehicle cannot pass through the target road section) to the second vehicles 606, 607, 608.
[0124] It should be noted that the vehicle navigation method provided by the embodiments of the present application is generally executed by the server 605, and accordingly, the vehicle navigation device is generally provided in the server 605.
[0125] It should be understood that Figure 6 the number of the first vehicles, the network, the server and the second vehicles in the above-mentioned system architecture is only exemplary. According to the implementation needs, there can be any number of the first vehicles, the network, the server and the second vehicles.
[0126] Reference is made to Figure 7 , which shows a structural schematic diagram of a computer system 700 suitable for implementing the vehicle navigation method or the vehicle navigation device of the embodiments of the present application. Figure 7 The computer system 700 shown is only an example, and should not bring any limitation to the functions and use range of the embodiments of the present application.
[0127] AsFigure 7 As shown, the computer system 700 includes a central processing unit (CPU) 701 which can perform various appropriate actions and processes in accordance with programs stored in a read only memory (ROM) 702 or loaded from the storage section 708 into a random access memory (RAM) 703. In the RAM 703, various programs and data required for the operation of the computer system 700 are also stored. The CPU 701, the ROM 702, and the RAM 703 are connected to each other through a bus 704. An input / output (I / O) interface 705 is also connected to the bus 704.
[0128] The following components are connected to the I / O interface 705: an input section 706 including a keyboard, a mouse, etc.; an output section 707 including a display such as a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 708 including a hard disk, etc.; and a communication section 709 including a network interface card such as a LAN card, a modem, etc. The communication section 709 performs communication processing via a network such as the Internet. A drive 710 is also connected to the I / O interface 705 as necessary. A removable recording medium 711 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc. is attached to the drive 710 as necessary, so that a computer program read therefrom is installed into the storage section 708 as necessary.
[0129] In particular, the processes described above with reference to the flowcharts can be implemented as a computer software program in accordance with the embodiments disclosed herein. For example, the embodiments disclosed herein include a computer program product comprising a computer program carried on a computer readable medium, the computer program containing program code for executing the methods illustrated by the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via the communication section 709, and / or installed from the removable recording medium 711. When the computer program is executed by the central processing unit (CPU) 701, the above-described functions defined in the system of the present invention are performed.
[0130] It should be noted that the computer-readable medium shown in the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or component, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, the computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, device or component. In the present application, the computer-readable signal medium can include a data signal carried in a baseband or as a part of a carrier wave, which carries computer-readable program code. Such a propagated data signal can take various forms, including but not limited to an electromagnetic signal, an optical signal or any suitable combination of the above. The computer-readable signal medium can also be any computer-readable medium other than the computer-readable storage medium, which can send, propagate or transmit a program for use by or in conjunction with an instruction execution system, device or component. The program code contained on the computer-readable medium can be transmitted by any suitable medium, including but not limited to wireless, wire, optical cable, RF, etc., or any suitable combination of the above.
[0131] The flowcharts and block diagrams in the drawings illustrate the possible implementation architectures, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowcharts or block diagrams can represent a module, a program segment or a part of code containing one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur in different order than that shown in the drawings. For example, two blocks that are shown in succession can actually be executed substantially in parallel, and sometimes in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams or flowcharts, and the combination of blocks in the block diagrams or flowcharts, can be implemented by a dedicated hardware-based system that performs the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.
[0132] The modules described in the embodiments of the present application can be implemented in the form of software or in the form of hardware. The described modules can also be arranged in a processor, for example, a processor can be described as including an acquisition module, a first determination module, a second determination module, and an analysis module. In some cases, the names of these modules do not constitute a limitation on the modules themselves, for example, the acquisition module can also be described as "a module that acquires environmental effective data collected by sensors of one or more first vehicles, first vehicle dimensions, and road location information corresponding to the environmental effective data".
[0133] As another aspect, the present application also provides a computer readable medium, which can be included in the device described in the above embodiments, or can exist independently without being assembled into the device. The computer readable medium carries one or more programs, which, when executed by the device, cause the device to include: acquiring environmental effective data collected by sensors of one or more first vehicles, first vehicle dimensions, and road location information corresponding to the environmental effective data; for each of the road location information, when the number of records of the environmental effective data corresponding to the road location information reaches a preset number threshold, determining a target passing dimension of a target road section corresponding to the road location information according to the environmental effective data and the first vehicle dimensions; determining a target navigation route of a second vehicle including the target road section, and determining second vehicle dimensions of the second vehicle; analyzing whether the second vehicle can pass through the target road section according to the target passing dimension and the second vehicle dimensions of the second vehicle, and in the case that the second vehicle cannot pass through the target road section, re-planning a navigation route and providing the re-planned navigation route to the second vehicle or sending an instruction indicating the re-planned navigation route to the second vehicle.
[0134] According to the technical scheme of the embodiments of the present application, by acquiring environmental effective data collected by sensors of one or more first vehicles, first vehicle dimensions, and road location information corresponding to the environmental effective data; for each of the road location information, when the number of records of the environmental effective data corresponding to the road location information reaches a preset number threshold, determining a target passing dimension of a target road section corresponding to the road location information; for a second vehicle, determining a target navigation route including the target road section; analyzing whether the second vehicle can pass through the target road section according to the target passing dimension and the second vehicle dimensions, and in the case that the second vehicle cannot pass through the target road section, re-planning a navigation route, the target passing dimension of the target road section is automatically identified, which can reduce the risk of scratching of the second vehicle, avoid traffic accidents caused by narrow roads, and also optimize the navigation route in the case that the second vehicle cannot pass through the target road section, thereby improving travel efficiency.
[0135] The foregoing detailed description has set forth various embodiments of the devices and / or processes via the use of specific terminology. However, embodiments thereof can be practiced with the exact description not being set forth but with the same essence; the principles set forth herein can be practiced with plasticity in a manner appropriate to specific implementations. The scope of the disclosure is therefore intended to be on the true spirit and principles of the technology disclosed herein, and further scope can be provided by the appended claims.
Claims
1. A vehicle navigation method characterized by comprising: The method comprises: obtaining environment effective data collected by sensors of one or more first vehicles, first vehicle size, and road position information corresponding to the environment effective data; for each piece of road position information, when the number of records of the environment effective data corresponding to the road position information reaches a preset number threshold, determining a target passing size of a target road section corresponding to the road position information according to the environment effective data and the first vehicle size; determining a target navigation route of a second vehicle including the target road section, and determining second vehicle size of the second vehicle; analyzing whether the second vehicle can pass through the target road section according to the target passing size and the second vehicle size of the second vehicle, and in the case that the second vehicle cannot pass through the target road section, re-planning a navigation route and providing the re-planned navigation route to the second vehicle or sending an instruction indicating the re-planned navigation route to the second vehicle.
2. The vehicle navigation method according to claim 1, characterized by, The first vehicle size comprises a first vehicle width and a first vehicle height; The method of obtaining environment effective data collected by sensors of one or more first vehicles comprises: receiving sensor environment data uploaded by one or more first vehicles within a preset time period before meeting a data collection condition and sensor environment data meeting the data collection condition; wherein the data collection condition is that the driving time of the first vehicle at a speed lower than a preset speed threshold is greater than a preset driving time threshold; extracting environment effective data from the sensor environment data; the environment effective data meets the condition that the difference between the passable width of the road section corresponding to the environment effective data and the first vehicle width is less than or equal to a first preset value, and / or the difference between the passable height of the road section and the first vehicle height is less than or equal to a second preset value.
3. The vehicle navigation method according to claim 2, characterized by, The target passing size comprises a target passing width and a target passing height; The method of determining the target passing size of the target road section corresponding to the road position information comprises: taking the average value of the passable width of the road section corresponding to the environment effective data as the target passing width of the target road section; and / or, taking the average value of the passable height of the road section corresponding to the environment effective data as the target passing height of the target road section.
4. The vehicle navigation method according to claim 1, characterized by, The method further comprises: constructing a vehicle database including the association between vehicle models and vehicle sizes in advance; The method of determining the second vehicle size of the second vehicle comprises: obtaining the second vehicle model of the second vehicle; retrieving the second vehicle size corresponding to the second vehicle model in the vehicle database.
5. The vehicle navigation method according to claim 3, characterized by, The second vehicle size comprises a second vehicle width and a second vehicle height; The method of analyzing whether the second vehicle can pass through the target road section according to the target passing size and the second vehicle size of the second vehicle comprises: identifying whether the difference between the target passing width and the second vehicle width is greater than or equal to a third preset value, and whether the difference between the target passing height and the second vehicle height is greater than or equal to a fourth preset value; In a case where the difference between the target passing width and the second vehicle width is greater than or equal to the third preset value and the difference between the target passing height and the second vehicle height is greater than or equal to a fourth preset value, it is determined that the second vehicle can pass the target road section; In a case where the difference between the target passing width and the second vehicle width is less than the third preset value or the difference between the target passing height and the second vehicle height is less than the fourth preset value, it is determined that the second vehicle cannot pass the target road section.
6. The vehicle navigation method according to claim 1, characterized by, The method further includes: in a case where the second vehicle can pass the target road section and the target road section is a narrow road relative to the second vehicle, generating prompt information indicating that there is a narrow road in the target navigation route.
7. The vehicle navigation method according to claim 1, characterized by, The method further includes: marking the target passing size of the target road section in a navigation map.
8. A vehicle navigation device characterized by comprising: The method comprises: an acquisition module configured to acquire environmental effective data collected by sensors of one or more first vehicles, first vehicle sizes, and road position information corresponding to the environmental effective data; a first determination module configured to, for each piece of road position information, when a record number of the environmental effective data corresponding to the road position information reaches a preset number threshold, determine a target passing size of a target road section corresponding to the road position information according to the environmental effective data and the first vehicle sizes; a second determination module configured to determine a target navigation route of a second vehicle including the target road section, and determine a second vehicle size of the second vehicle; an analysis module configured to analyze whether the second vehicle can pass the target road section according to the target passing size and the second vehicle size of the second vehicle, and in a case where the second vehicle cannot pass the target road section, re-plan a navigation route and provide the re-planned navigation route to the second vehicle or send an instruction indicating the re-planned navigation route to the second vehicle.
9. An electronic device for vehicle navigation, characterized by, The method comprises: one or more processors; a storage device configured to store one or more programs, when the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1-7.
10. A computer readable medium having stored thereon a computer program, characterized in that, The program is executed by the processor to implement the method according to any one of claims 1-7. The program is executed by the processor to implement the method according to any one of claims 1-7.