CN110440818B - Lane matrix model, construction method thereof, reading method and device - Google Patents
Lane matrix model, construction method thereof, reading method and device Download PDFInfo
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- CN110440818B CN110440818B CN201810421936.XA CN201810421936A CN110440818B CN 110440818 B CN110440818 B CN 110440818B CN 201810421936 A CN201810421936 A CN 201810421936A CN 110440818 B CN110440818 B CN 110440818B
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Abstract
The invention provides a lane matrix model and a construction method, a reading method and a device thereof, wherein the lane matrix model is characterized by comprising the following steps: a lane matrix element corresponding to lanes in a plurality of lane group units in the map data; and filling matrix elements, wherein the filling matrix elements are connected with the lane matrix elements on the rows and columns where the lane matrix elements are located, so that a matrix structure is formed. The invention can realize the navigation guidance at the lane level, is beneficial to improving the passing speed of the intersection and reducing the possibility of traffic accidents.
Description
Technical Field
The invention relates to a lane matrix model and a construction method, a reading method and a reading device thereof, and belongs to the technical field of navigation.
Background
In the existing navigation technology, route guidance can only be performed for roads, and only the lane condition of an intersection can be displayed for lanes of a road network, and a judgment cannot be made for continuous change of lanes in front of the roads, and a lane-level route which a vehicle passes through in order to smoothly pass through the intersection cannot be accurately deduced.
For example, when a navigated vehicle is approaching an intersection and intends to turn left, the prior art can only prompt the driver to turn left in the left two lanes in front of the intersection, but cannot guide the vehicle to reach the left-turn lane from the current lane. However, the driver knows that both the left lane and the right lane in front of the intersection are left-turn lanes and also knows that he wants to turn left, but does not know whether the current lane is located on the left side or the right side of the left-turn lane, or whether the driver should merge left or right to reach the left-turn lane.
Therefore, in the prior art, if the vehicle driver is unfamiliar with the road conditions, when seeing the lane reminding at the end of the navigation prompt intersection, the driver may have been too late to change lanes or the route change is not optimal, thereby causing a great increase in the possibility of violation or collision.
Disclosure of Invention
The invention provides a lane matrix model, a construction method thereof, a reading method and a reading device thereof, which are used for realizing lane-level navigation guidance.
An embodiment of the present invention provides a lane matrix model, which includes: a lane matrix; the lane matrix includes:
a lane matrix element corresponding to lanes in a plurality of lane group units in the map data; and
and filling matrix elements, and connecting with the lane matrix elements on the rows and columns where the lane matrix elements are located, so as to form a matrix structure.
Optionally, in the lane matrix model, the lane group units are sequentially connected lane group units within a predetermined distance in the map data.
Optionally, in the lane matrix model, the predetermined distance is a predetermined distance ahead of the intersection in the map data.
Another embodiment of the present invention provides a method for constructing the lane matrix model, including: and constructing the lane matrix according to the lane information in the lane group unit.
Optionally, in the above construction method, constructing the lane matrix includes:
determining the relative position relation of the lanes in the two adjacent lane group units in the row direction according to the lane information;
identifying the widest boundary of all the lanes according to the relative position relation of all the lane group units so as to determine the column number of the lane matrix; and
and determining a lane matrix element corresponding to the lane according to the relative position relation and the column number.
Optionally, in the above construction method, the lane information is lane geographical location information, and determining the relative location relationship includes: and determining the relative position relation according to the geographical position information.
Optionally, in the above construction method, the lane information is lane connection information and lane increase/decrease information, and determining the relative positional relationship includes: and determining the relative position relation according to the lane connection information and the lane increase and decrease information.
Another embodiment of the present invention provides a method for reading the lane matrix model, including:
according to the position of each lane matrix element in the lane matrix, identifying matrix element identification for the matrix element; and
and reading the lane matrix element with the matrix element identification.
Yet another embodiment of the present invention provides a navigation method based on the lane matrix model, including: and generating a guide route from the current lane to the target lane according to the lane matrix.
Optionally, in the above navigation method, generating the guidance route includes:
reading corresponding lane matrix elements in the lane matrix according to lanes conforming to the planned route;
connecting the read lane matrix elements into a virtual route which can reach the target lane matrix element corresponding to the target lane from the current lane matrix element corresponding to the current lane and has the least lane change times;
and reading corresponding lanes from the map data according to lane matrix elements in the virtual route to form the guide route.
Optionally, in the above navigation method, reading the lane matrix element comprises: reading the lane matrix elements according to the reading method of the lane matrix model; connecting into the virtual route includes:
connecting the read lane matrix elements into a plurality of alternative virtual routes which can reach the target lane matrix element from the current lane matrix element;
calculating the sum of absolute values of differences of the matrix element identifications of two adjacent lane matrix elements in each alternative virtual route; and
and taking the alternative virtual route with the minimum sum of the absolute values of the difference values as the virtual route.
Another embodiment of the present invention provides an apparatus for constructing a lane matrix model, including:
the information acquisition module is used for acquiring lane information in a lane group unit from the map data; and
and the matrix construction module is used for constructing the lane matrix according to the lane information acquired by the information acquisition module.
Optionally, in the above building apparatus, the matrix building module includes:
the position determining unit is used for determining the relative position relation of the lanes in the two adjacent lane group units in the row direction according to the lane information acquired by the information acquiring module;
a column number determining unit, configured to identify a widest boundary of all the lanes according to the relative position relationship of all the lane group units determined by the position determining unit, so as to determine a column number of the lane matrix; and
and the element determining unit is used for determining a lane matrix element corresponding to the lane according to the relative position relation determined by the position determining unit and the column number determined by the column number determining unit.
Optionally, in the above construction apparatus, the lane information is lane geographical position information, or lane connection information and lane increase/decrease information.
Another embodiment of the present invention provides an apparatus for reading the lane matrix model, including:
the marking module is used for marking matrix element marks for the matrix elements according to the positions of the lane matrix elements in the lane matrix; and
and the reading module is used for reading the lane matrix elements with the matrix element marks.
Still another embodiment of the present invention provides a navigation device of the lane matrix model, including:
the model reading module is used for reading the lane matrix model according to the lanes conforming to the planned route; and
and the route generating module is used for generating a guide route from a current lane to a target lane according to the read lane matrix in the lane matrix model.
Optionally, in the navigation device, the model reading module is configured to read a corresponding lane matrix element in the lane matrix according to a lane conforming to a planned route; the route generation module includes:
the virtual route generating unit is used for connecting the lane matrix elements in the lane matrix read by the model reading module into a virtual route which can reach the target lane matrix element corresponding to the target lane from the current lane matrix element corresponding to the current lane and has the least lane change times; and
and the guiding route generating unit is used for reading corresponding lanes from the map data according to the lane matrix elements in the virtual route generated by the virtual route generating unit to form the guiding route.
Optionally, in the navigation device, the model reading module includes the reading device;
the virtual route generation unit includes:
an alternative route generation subunit, configured to connect the lane matrix elements read by the model reading module into a plurality of alternative virtual routes that can reach the target lane matrix element from the current lane matrix element;
the calculation subunit is configured to calculate a sum of absolute values of differences of the matrix element identifiers of two adjacent lane matrix elements in each of the candidate virtual routes; and
a virtual route generation subunit configured to select, as the virtual route, a candidate virtual route in which the sum of absolute values of the differences is smallest from the plurality of candidate virtual routes generated by the candidate route generation subunit, according to the calculation result of the calculation subunit.
In another embodiment of the present invention, a navigation system includes a navigation server and a navigation terminal, where the navigation server includes the navigation device, and the navigation terminal performs navigation according to the guidance route generated by the navigation device.
Optionally, in the navigation system, the navigation server further includes the constructing device and/or the reading device.
Optionally, in the navigation system, the navigation terminal further includes the constructing apparatus and/or the reading apparatus.
Yet another embodiment of the present invention provides another navigation system, including: the navigation server comprises the construction device; the navigation terminal comprises the navigation device, and the navigation is carried out on the navigation terminal according to the guide route generated by the lane matrix model constructed by the construction device.
Optionally, in the navigation system, the navigation server or the navigation terminal further includes the reading device.
Yet another embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, where the program is executed by a processor to perform the above construction method, the above reading method, and/or the above navigation method.
Yet another embodiment of the present invention provides a computer device, including a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the above construction method, the above reading method and/or the navigation method when executing the program.
The invention realizes the navigation guidance at the lane level, is beneficial to improving the passing speed of the intersection and reducing the possibility of traffic accidents.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic diagram illustrating an example of a corresponding relationship between lane group units and road segments according to the present invention;
FIG. 2 is a schematic diagram illustrating an example of a lane matrix in the lane matrix model according to the present invention;
FIG. 3 is a flowchart of an embodiment of a method for constructing a lane matrix model according to the present invention;
fig. 4 is an exemplary diagram showing a positional relationship between lane group units;
FIG. 5 is a flow chart of an embodiment of a method for navigating a matrix model of a lane according to the present invention;
FIG. 6 is a schematic structural diagram of an embodiment of a lane matrix model construction apparatus according to the present invention;
FIG. 7 is a schematic structural diagram of an embodiment of a device for reading a lane matrix model according to the present invention;
FIG. 8 is a schematic structural diagram of a navigation device according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of a virtual route generation unit in the navigation device shown in fig. 8;
FIG. 10 is a schematic structural diagram of a navigation system according to a first embodiment of the present invention;
fig. 11 is a schematic structural diagram of a navigation system according to a second embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
< embodiment of lane matrix model >
The embodiment of the invention provides a lane matrix model, which at least comprises a lane matrix, wherein the lane matrix at least comprises: a lane matrix element corresponding to lanes in a plurality of lane group units in the map data; and filling matrix elements, wherein the filling matrix elements are connected with the lane matrix elements on the rows and columns where the lane matrix elements are located, so that a matrix structure is formed.
Specifically, the lane matrix model may include one lane matrix or a plurality of lane matrices. In addition, besides the lane matrix, other contents besides the lane in the map data, such as road edges, pedestrian lanes, bus lanes, bicycle lanes, etc., may also be included in the lane matrix model.
The filling matrix element is a matrix element that does not correspond to an actually existing lane in the lane matrix, but is called a filling matrix element because a space in the lane matrix other than the lane matrix element is filled with the matrix element to form a matrix structure.
The roads in the map data are stored in the form of road Segments (LINKs), each road segment corresponds to one road, and a road may include one road segment or many road segments. The map data may be stored in the navigation terminal or in the navigation server. It should be noted that the "navigation server" mentioned here and hereafter in the present invention is not limited to one server nor a server for calculating a planned route, and the server participating in the present invention is referred to as a navigation server. The navigation terminal is, for example, a vehicle navigation terminal or an intelligent terminal such as a mobile phone.
The Lane group unit (Lane _ group) refers to a basic unit of a Lane group in which the number of lanes in the map data does not change; the lane group is a group consisting of a plurality of lanes within a real road width; the lane is a road formed by two lanes and allowing the navigated vehicle to pass through; the vehicle lines can be white solid lines, white dotted lines, double yellow lines and the like according to actual traffic needs. The lane group unit may be obtained from road segments in the map data.
For example, as shown in FIG. 1, within the predetermined distance, there are three lane group units 1-3, which may be obtained from a road segment, such as the road segment LINK1 shown in the figure; it is also possible to obtain from a plurality of road segments, such as the road segments LINK2 and LINK3 shown in the figure, respectively. There may be other lane group units 4 and 5, etc. outside the predetermined distance.
Fig. 2 is an exemplary schematic diagram of a lane matrix in the lane matrix model according to the present invention. As shown, the lane matrix is a matrix with three rows and five columns, wherein the numbers indicate matrix element identifiers of lane matrix elements, and related matrix element identifiers will be described later. One row of the lane matrix corresponds to one of the lane group units, and as shown in the figure, the first row from the top corresponds to the lane group unit 1, the second row corresponds to the lane group unit 2, and the third row corresponds to the lane group unit 3.
Specifically, the lane matrix includes: lane matrix elements corresponding to lanes in a plurality of lane group units in the map data, as shown in the figure, lane matrix elements 1 to 4 in a first row, lane matrix elements 2 to 3 in a second row and lane matrix elements 0 to 2 in a third row from the top in a lane matrix, wherein lanes corresponding to the lane matrix elements are lanes which actually exist; and filling matrix elements which do not correspond to the lane, as shown in the figure, the first row No. 0 filling matrix element, the second row No. 0, 1 and 4 filling matrix elements and the third row No. 3-4 filling matrix elements from the top in the lane matrix do not correspond to the lane which actually exists, or the filling matrix elements can be considered to correspond to the virtual lane which does not actually exist.
Optionally, the plurality of lane group units are sequentially connected lane group units within a predetermined distance in the map data. The predetermined distance refers to a specified distance in a road, and may be, for example, a predetermined distance in front of the intersection in the map data, such as one kilometer, so that the intersection corresponds to a lane matrix model. The predetermined distance can be adjusted according to actual needs.
The "order" refers to the original position order of the lane group units in the road line segment in the map data. The term "connected" means that corresponding rows of the lane group units in the lane matrix are connected, and the lane group units may be connected or not connected in a road segment. For example, in fig. 2, the lane matrix may be constructed by selecting the lane group units 1 to 3 that are connected to each other, or only the lane group units 1 and 3 that are not connected to each other, which is applicable to a situation where the lanes in the lane group unit 2 do not change much compared to the lane group unit 3, so that the lane group unit 2 is not represented in the lane matrix, which does not affect the navigation result, and is beneficial to making the lane matrix simpler and reducing the computation amount.
It should be noted that the lane matrix shown in fig. 2 is only an example, and the row and lane group units in the lane matrix are not limited to one-to-one correspondence as long as the purpose of the present invention can be achieved. For example, one row in the lane matrix may correspond to a plurality of lane group units belonging to different roads; for another example, a plurality of rows in the lane matrix may be merged together to correspond to a lane group unit, which is possible and not limited herein.
The lane matrix model of the embodiment includes a lane matrix formed based on the actually existing lane, so that the lane change trend of the road ahead can be obtained, and the lane-level navigation guidance can be realized.
< embodiment of method for constructing matrix model for lane >
The embodiment of the present invention further provides a method for constructing the lane matrix model, which at least includes: and constructing the lane matrix according to the lane information in the lane group unit. The lane information is information of a lane group unit obtained from map data, and may be lane geographical position information, such as longitude and latitude information of a lane line; alternatively, the lane information may be lane connection information and lane increase/decrease information.
The lane connection information is information indicating a connection relationship between lanes in two adjacent lane group units, for example, lane 1 in a preceding lane group unit connects lane 2 and lane 3 in an adjacent succeeding lane group unit, and the like, "connection" means that a vehicle can travel from one lane to another lane.
The lane increase/decrease information indicates that the lane in the preceding lane group unit is increased or decreased in the adjacent succeeding lane group unit. For example, if a lane in a preceding lane group unit also has a corresponding lane connected thereto in the straight-ahead direction in an adjacent succeeding lane group unit, it indicates that the lane in the preceding lane group unit is neither increased nor decreased in the succeeding lane group unit; if a lane in the previous lane group unit does not have a corresponding lane connected with the lane in the straight-ahead direction in the adjacent next lane group unit, the lane in the previous lane group unit is reduced in the next lane group unit; if a certain lane in the next lane group unit does not have a corresponding lane connected with the certain lane in the straight-ahead direction in the adjacent previous lane group unit, indicating that the lane in the next lane group unit is an increased lane relative to the previous lane group unit; among them, "front" and "rear" are relative to the navigated vehicle, and among two adjacent lane group units, the lane group unit closer to the navigated vehicle is referred to as a previous lane group unit in this patent, and the lane group unit farther from the navigated vehicle is referred to as a next lane group unit in this patent.
Specifically, the lane change information may be expressed in the form of lane attributes as: split, merge and normal. The split indicates that the lane is a lane split from other lanes, the merge indicates that the lane will be merged into other lanes, and the normal indicates that the lane is neither split nor merged. It should be noted that the above-mentioned "splitting", "merging", and "normal" merely indicate that the labels representing the above-mentioned attribute contents are not limited to these Chinese characters, and other labels having similar meanings such as "protruding", "sinking", and "straight-through" may be used as long as the above-mentioned attribute contents are represented.
As shown in fig. 3, this embodiment of the construction method may include at least the following steps:
and step 110, determining the relative position relation of the lanes in the two adjacent lane group units in the row direction according to the lane information of the lane group units.
Here, the "row direction" refers to a direction of a row of the lane matrix. Before the lane matrix is constructed, the direction of a road segment in the map data may be taken as the column direction, and the direction perpendicular to the road segment may be taken as the row direction. As described above, the lane group units located on the same road segment have original position sequences, so that the relative position relationship of the lane group units in the column direction is already determined when the lane group units are obtained from the map data, and no other method is needed for determination.
The term "adjacent" refers to that corresponding rows of two lane group units in the lane matrix are adjacent, and may be adjacent or non-adjacent in a road segment of the map data, for example, the two lane group units are not adjacent in the road segment, but the lane group unit between the two lane group units may not be embodied in the lane matrix due to a small lane change, and the like, and at this time, the two lane group units may be considered to be adjacent in the lane matrix.
As described above, the lane information may be lane geographical location information, such as longitude and latitude information of lane lines, and the like, and the relative location relationship of lanes in the two adjacent lane group units in the row direction may be determined by the longitude and latitude information. Specifically, the process of determining the relative position relationship of the lanes in the two adjacent lane group units in the row direction by using the geographic lane position information can be performed on the navigation terminal or the navigation server. This is usually computationally intensive and is preferably performed on the navigation server.
As described above, the lane information may be lane connection information and the lane increase/decrease information. The relative positional relationship of the lanes in the two adjacent lane group units in the row direction can also be determined based on the lane connection information and the lane increase/decrease information. Specifically, the process of determining the relative position relationship of the lanes in the row direction in the two adjacent lane group units by the lane connection information and the lane increase/decrease information may be performed on the navigation terminal or the navigation server. The calculation amount is small, and the calculation efficiency can be high no matter the calculation is carried out on the navigation terminal or the navigation server.
For example, as shown in fig. 4, three lane units 1 to 3 correspond to the 1 st to 3 rd rows in the lane matrix, the numbers in the boxes represent lane index marks, which are obtained from map data and used for marking actual lanes, and the characters in the boxes represent lane increase and decrease information, in this case, lane attributes. Specifically, the lane group unit 3 includes three lanes, lane index marks are respectively 0, 1 and 2, and attributes are respectively merging, merging and normal; the lane group unit 2 comprises two lanes, lane index marks are respectively 0 and 1, and the attributes are respectively normal and split; the lane group unit 1 includes four lanes, lane index marks are respectively 0, 1, 2, 3, and attributes are respectively split, normal, and split.
Regarding the lane connection information, lane No. 0 in the lane group unit 3 is connected with lane No. 0 in the lane group unit 2; the lane 1 in the lane group unit 3 is connected with the lane 0 in the lane group unit 2; the lane 2 in the lane group unit 3 is connected with the lane 1 in the lane group unit 2; the lane 0 in the lane group unit 2 is connected with the lane 0 and the lane 1 in the lane group unit 1; lane No. 1 in lane group unit 2 is connected with lane No. 2 and lane No. 3 in lane group unit 1.
And 120, identifying the widest boundary of all the lanes according to the relative position relation of all the lane group units so as to determine the column number of the lane matrix.
Herein, the "all-lane group unit" refers to an all-lane group unit for constructing a lane matrix model. For example, the lane matrix model may be a whole lane group unit within a predetermined distance before a certain intersection in a road, or several lane group units selected from the whole lane group units within the predetermined distance and used for constructing the lane matrix model. The "widest boundary" refers to a boundary formed by a left lane of the leftmost lane in all the rows and a right lane of the rightmost lane in all the rows such that all the lane group units are located within the boundary.
For example, as shown in fig. 4, the lane located at the leftmost position in all the rows is lane No. 0 where the lane group unit 3 is located, the lane located at the rightmost position in all the rows is lane No. 4 where the lane group unit 1 is located, and the left lane line of the lane No. 0 and the right lane line of the lane No. 4 form the widest boundary, so that all the lanes in the three lane group units occupy five columns, and thus the number of columns of the lane matrix model is determined to be five.
And step 130, determining a lane matrix element corresponding to the lane according to the relative position relation and the column number.
For example, the row of the lane group unit 1 shown in fig. 4 is used as the first row of the lane matrix, the row of the lane group unit 2 is used as the second row of the lane matrix, and the row of the lane group unit 3 is used as the third row of the lane matrix, lanes in these lane group units are all actually existing lanes, each lane corresponds to one lane matrix element, and the blank areas except for these lanes are filled into filling matrix elements which do not correspond to the actually existing lanes, so as to form the lane matrix with three rows and five columns shown in fig. 2. In fig. 2, each lane in the lane group unit 1 corresponds to the matrix elements of lanes 1 to 4 in the first row, each lane in the lane group unit 2 corresponds to the matrix elements of lanes 2 to 3 in the second row, and each lane in the lane group unit 3 corresponds to the matrix elements of lanes 0 to 2 in the third row.
After lane matrix elements in the lane matrix are determined, the rest parts can be filled into filling matrix elements, and the filling matrix elements are connected with the lane matrix elements on the rows and columns where the lane matrix elements are located, so that a matrix structure is formed.
The construction method of the embodiment constructs the lane matrix in the embodiment through the lane information in the lane group unit, and further constructs a lane matrix model, so that the lane change trend of the road in front can be obtained, and the lane-level navigation guidance can be realized.
In an application scenario, the construction method according to this embodiment may construct a lane matrix model for all lane group units or some lane group units between any two points in the map data, so as to implement lane-level guidance between any two points.
In another application scenario, a lane matrix model may also be constructed for all lane group units or some lane group units within a predetermined distance in front of all intersections or some intersections in the map data, so that each direction of each intersection corresponds to one lane matrix model, so as to implement lane-level guidance for a navigated vehicle to leave the intersection. The "front predetermined distance" refers to a predetermined distance before the navigated vehicle reaches the intersection from the standpoint of the station at the intersection, and specifically, the predetermined distance may be a predetermined distance from the intersection, or may be a predetermined distance from the intersection after being spaced apart by a distance.
< embodiment of reading method of matrix model for lane >
The embodiment of the present invention further provides a method for reading the lane matrix model, which at least includes: according to the position of each lane matrix element in the lane matrix, identifying matrix element identification for the matrix element; and reading the lane matrix element with the matrix element identification.
The lane in the embodiment refers to a lane for constructing a matrix model; the matrix element identifier is an identifier labeled for each matrix element in the lane matrix according to the above-described embodiment of the present invention to implement a navigation method described later, and the matrix element identifier is adapted to a position of a lane matrix element in the lane matrix, and can embody a relative positional relationship between lane matrix elements in the same row. For example, the numbers in the circles shown in fig. 2 may represent matrix element identifiers, and in the same row, the matrix element identifiers closer to the left are smaller, and the matrix element identifiers closer to the right are larger. Similarly, in the same row, the matrix element identifiers closer to the right may be smaller, and the matrix element identifiers closer to the left may be larger, as long as the matrix of the entire lane adopts a uniform standard to label the matrix element identifiers. However, it should be noted that the matrix element identification is to be adapted to the position of the lane matrix element in the lane matrix, and if the lane matrix elements 1 to 4 of the row where the lane group unit 1 is located are labeled as 1, 3, 4, and 2, this is not adapted to the position, and this labeling method is not in accordance with the concept of the present invention.
Optionally, after identifying the matrix element identifier for the lane matrix element, the corresponding relationship between the matrix element identifier for the lane matrix element and the lane index identifier for the lane may be recorded, so as to represent the corresponding relationship between the lane matrix element and the lane. The lane index mark is a mark used for marking each lane in the lane group matrix in the map data, and the lane index mark may be obtained from the map data, for example, the number in the box shown in fig. 4 may represent the lane index mark. Specifically, the correspondence may be recorded in the lane matrix model, or in other information. However, if the correspondence between the lane matrix elements and the lanes can be expressed in other ways, it is also possible not to record the correspondence.
It should be noted here that the specific form of the lane index mark and the matrix element mark is not limited, and may be a number, a letter or a symbol, or a combination of a number, a letter and/or a symbol. Note that, although all matrix elements in fig. 2 are labeled with labels, it is also possible to label only matrix elements corresponding to actually existing lanes as long as the requirements of the navigation method described later are satisfied. For example, in fig. 2, only the matrix elements of the 1 st to 4 th lanes where the lane group unit 1 is located, the matrix elements of the 2 nd to 3 rd lanes where the lane group unit 2 is located, and the matrix elements of the 0 th to 2 nd lanes where the lane group unit 3 is located may be identified, and the other matrix elements of the filling lanes may not be labeled.
The method for reading the lane matrix model in this embodiment is advantageous to implement a navigation method of the lane matrix model by identifying the matrix elements and reading the matrix element identifiers, thereby implementing lane-level navigation guidance.
< embodiment of navigation method of Lane matrix model >
The embodiment of the invention also provides a navigation method based on the lane matrix model, which at least comprises the following steps: and generating a guide route from the current lane to the target lane according to the lane matrix.
The current lane is the lane where the navigated vehicle is currently located, and can be determined by the existing positioning technology. Existing positioning techniques may include, for example: GPS satellite positioning, Bluetooth positioning, WIFI network positioning, Beidou positioning, GPRS/CDMA mobile communication technology positioning and the like.
The target lane refers to a lane to be traveled by the navigated vehicle. In particular, in an application scenario for lane-level navigation between any two locations in the map data, the target lane may refer to a lane that fits the navigated vehicle at the target location; in an application scenario where lane-level navigation is performed for intersection breakouts in map data, the target lane may refer to a lane that conforms to a planned route in front of the intersection to be broken out. For example, when it is known from the planned route that the navigated vehicle is about to turn left at an intersection, the left-turn lane in front of the intersection is the target lane.
As shown in fig. 5, the navigation method may include the steps of:
The planned route refers to a route from a current location where a navigated vehicle is located to a target location, and can be calculated according to an existing navigation route planning algorithm, and a specific calculation process can be performed on a navigation terminal, and can also be sent to the navigation terminal after calculation on a navigation service. The lane conforming to the planned route refers to a lane through which the navigated vehicle can pass when traveling along the planned route, for example, according to the planned route, if the navigated vehicle passes through a certain intersection in a left-turn manner, in the lane group unit adjacent to the intersection, only the lane with the left-turn indication mark conforms to the planned route, and the other lanes with the straight indication mark or the right-turn indication mark do not conform to the planned route.
In particular, the lane matrix elements with corresponding matrix element identifications can be read by adopting the reading method of the lane matrix model.
The virtual route is a route formed in a lane matrix, and the lane matrix is a tool for assisting navigation guidance and is not a road that actually exists, and therefore, the virtual route is referred to as a virtual route. However, it should be noted here that the lane matrix elements on the virtual route are all lane matrix elements corresponding to the actually existing lanes, and do not include filling matrix elements not corresponding to the actually existing lanes, because the virtual route is intended to guide the navigated vehicle to which lane, and the positions corresponding to the filling matrix elements not corresponding to the actually existing lanes are not accessible by the navigated vehicle, so it is not necessary to include such filling matrix elements.
Specifically, the read lane matrix elements may be connected into a plurality of alternative virtual routes that can reach the target lane matrix element from the current lane matrix element; then calculating the sum of absolute values of differences of matrix element identifications of two adjacent lane matrix elements in each alternative virtual route; and finally, taking the alternative virtual route with the minimum sum of the absolute values of the differences as the virtual route.
For example, in the example shown in fig. 2, it is assumed that the lane unit 1 is connected to an intersection, and according to the planned route, the navigated vehicle will turn left at the intersection, the current lane matrix element corresponding to the current lane where the navigated vehicle is located is the lane matrix element No. 1 where the lane group unit 3 is located, and the target lane matrix element meeting the left-turn requirement is the lane matrix element No. 1 and the lane matrix element No. 2 where the lane group unit 1 is located, so it can be known that there are the following possible alternative virtual routes from the current lane matrix element to the two target lane matrix elements:
alternative virtual route 1: the 1 st lane matrix element of the lane group unit 1 is reached from the 1 st lane matrix element of the lane group unit 3 via the 2 nd lane matrix element of the lane group unit 2;
alternative virtual route 2: the matrix element of the No. 1 lane of the lane group unit 3 reaches the matrix element of the No. 2 lane of the lane group unit 1 via the matrix element of the No. 2 lane of the lane group unit 2;
alternative virtual route 3: the matrix element of the No. 1 lane of the lane group unit 3 reaches the matrix element of the No. 1 lane of the lane group unit 1 via the matrix element of the No. 3 lane of the lane group unit 2;
alternative virtual route 4: the No. 1 lane matrix element of the lane group unit 3 reaches the No. 2 lane matrix element of the lane group unit 1 via the No. 3 lane matrix element of the lane group unit 2.
According to the position relationship, the lane change times of each alternative virtual route are calculated as follows:
lane change times of alternative virtual route 1: 1-2 + 2-1| ═ 2
Number of lane changes for alternative virtual route 2: 1-2 + 2-2| ═ 1
Number of lane changes of alternative virtual route 3: 1-3 + 3-1| ═ 4
Number of lane changes of alternative virtual route 4: 1-3| + |3-2| ═ 3
In the above formula, the symbol "| · |" represents absolute value operation. As can be seen from the above calculation results, the number of times of lane change of the alternative virtual route 2 is the smallest, and therefore the alternative virtual route 2 is selected as the recommended escape route at the time of left turn.
Similarly, if the navigated vehicle is going to turn right at the intersection according to the planned route, and the target lane matrix elements are the lane matrix elements No. 3 and No. 4 of the lane group unit 1 in fig. 2, the recommended departure route for the right turn can be calculated by the similar method described above.
And step 230, reading corresponding lanes from the map data according to the lane matrix elements in the virtual route to form the guide route.
The guiding route is used for guiding the navigated vehicle to reach the target lane from the current lane. In an application scene of driving, a driver of a navigated vehicle can be prompted to change lanes according to the guide route in modes of image display, voice broadcast and the like; in an unmanned application scene, an instruction can be directly sent to a steering system of a navigated vehicle to control the navigated vehicle to perform lane change according to the guide route. Specifically, the reading manner in this step may be, for example, to find a corresponding lane according to the corresponding relationship between the matrix element identifier and the lane index identifier for reading.
The navigation method is based on the lane matrix model for navigation, can guide vehicles to reasonably change lanes in the most efficient mode according to the lane change trend of the front road, and achieves lane-level navigation guidance, so that the method is beneficial to improving the road passing speed, improving the crossing passing speed and reducing the possibility of traffic accidents.
< embodiment of apparatus for constructing matrix model of lane >
The embodiment of the invention also provides a device for constructing the lane matrix model, which is used for constructing the lane matrix model and can be arranged in a navigation terminal or a navigation server.
As shown in fig. 6, the construction apparatus 10 of the lane matrix model includes at least an information acquisition module 11 and a matrix construction module 12. The working principle is as follows:
the information acquisition module 11 acquires lane information in a lane group unit from the map data. The storage location of the map data is not limited, and the map data may be previously stored in the navigation terminal by downloading from the navigation service or by installing an optical disc, or may be stored only in the navigation server without being stored in the navigation terminal, and the required information may be acquired from the navigation server. The lane information is information of a lane group unit obtained from map data, and may be lane geographical position information, such as longitude and latitude information of a lane line; alternatively, the lane information may be lane connection information and lane increase/decrease information. For the detailed description of the lane information, reference may be made to the related description of the above embodiment of the construction method, and details are not repeated here.
Thereafter, the matrix construction module 12 constructs the lane matrix from the lane information acquired by the information acquisition module 11. Specifically, as shown in fig. 6, the matrix building module 12 may include a position determining unit 1201, a column number determining unit 1202, and an element determining unit 1203, and the working principle thereof is as follows:
first, the relative positional relationship of the lanes in the two adjacent lane group units in the row direction is determined by the position determining unit 1201 from the lane information acquired by the information acquisition module 11. Wherein "row direction" refers to the direction of the rows of the lane matrix; "adjacent" means that corresponding rows of the two lane group units in the lane matrix are adjacent, and may or may not be adjacent in a road segment of the map data. The lane information may be lane geographical location information, such as longitude and latitude information of lane lines, and the relative location relationship of lanes in two adjacent lane group units in the row direction may be determined through the longitude and latitude information. The lane information may be lane connection information and the lane increase/decrease information. The relative positional relationship of the lanes in the two adjacent lane group units in the row direction can also be determined based on the lane connection information and the lane increase/decrease information. For specific examples, reference may be made to the related contents of the above construction method embodiments, which are not described herein again.
Then, the column number determination unit 1202 identifies the widest boundary of all the lanes according to the relative positional relationship of all the lane group units determined by the position determination unit 1202 to determine the column number of the lane matrix. After lane matrix elements in the lane matrix are determined, the rest parts can be filled into filling matrix elements, and the filling matrix elements are connected with the lane matrix elements on the rows and columns where the lane matrix elements are located, so that a matrix structure is formed.
Herein, the "all-lane group unit" refers to an all-lane group unit for constructing a lane matrix model. The "widest boundary" refers to a boundary formed by a left lane of the leftmost lane in all the rows and a right lane of the rightmost lane in all the rows such that all the lane group units are located within the boundary. For specific examples, reference may be made to the related contents of the above construction method embodiments, which are not described herein again.
Finally, the element determining unit 1203 determines a lane matrix element corresponding to the lane according to the relative position relationship determined by the position determining unit 1201 and the column number determined by the column number determining unit 1202. For specific examples, reference may be made to the related contents of the above construction method embodiments, which are not described herein again.
It should be noted here that the information obtaining module 11 and the matrix constructing module 12 may be co-located in the same physical device, or may be separately located in different physical devices. For example, the information acquisition module 11 is located in a navigation terminal, the matrix construction module 12 is located in a navigation server, lane information is acquired by the information acquisition module 11 in the navigation terminal and provided to the navigation server, and then a lane matrix model is constructed by the matrix construction module 12 in the navigation server according to the lane information and then is sent back to the navigation terminal; or, conversely, the information obtaining module 11 is located in a navigation server, the matrix building module 12 is located in a navigation terminal, the information obtaining module 11 in the navigation server obtains lane information and provides the lane information to the navigation terminal, and then the matrix building module 12 in the navigation terminal builds a lane matrix model according to the lane information.
The construction device of the embodiment constructs the lane matrix in the embodiment through the lane information in the lane group unit, and further constructs a lane matrix model, so that the lane change trend of the road in front can be obtained, and the lane-level navigation guidance can be realized.
< embodiment of apparatus for reading a matrix model of a lane >
The embodiment of the invention also provides a reading device of the lane matrix model, which is used for realizing the reading method. As shown in fig. 7, the reading device 20 includes at least: the marking module 21 and the reading module 22 work according to the following principle:
the labeling module 21 identifies matrix element identifiers for the matrix elements according to the positions of the lane matrix elements in the lane matrix; the matrix elements of the lane with the matrix element identifiers are then read by the reading module 22 according to the lane index identifiers.
The lane in the embodiment refers to a lane for constructing a matrix model; the matrix element identifier is an identifier of each matrix element identifier in the lane matrix according to the above-described embodiment of the present invention for implementing a navigation method described later, and the matrix element identifier is adapted to a position of a lane matrix element in the lane matrix, and can embody a relative positional relationship between lane matrix elements in the same row.
Optionally, after identifying the matrix element identifier for the lane matrix element, the corresponding relationship between the matrix element identifier for the lane matrix element and the lane index identifier for the lane may be recorded, so as to represent the corresponding relationship between the lane matrix element and the lane.
The lane index mark and the matrix element mark may be in the form of numbers, letters or symbols, or a combination of numbers, letters and/or symbols. For a specific example, refer to the related description of the above embodiment of the reading method, and are not described herein again.
The reading device for the lane matrix model described in this embodiment is advantageous to implement the navigation method for the lane matrix model by identifying the matrix elements and reading the matrix element identifications, thereby implementing lane-level navigation guidance.
< embodiment of navigation apparatus based on Lane matrix model >
The embodiment of the invention provides a navigation device based on the lane matrix model, which is used for realizing the navigation method. As shown in fig. 8, the navigation device 30 includes at least: a model reading module 31 and a route generation module 32. The working principle is as follows:
the model reading module 31 reads the lane matrix model, and then the route generation module 32 generates a guidance route from the current lane to the target lane according to the lane matrix in the lane matrix model read by the model reading module 31. The current lane is the lane where the navigated vehicle is currently located, and can be determined by the existing positioning technology. The target lane refers to a lane to be traveled by the navigated vehicle. For a specific example, refer to the related contents of the navigation method embodiment, which are not described herein again.
It should be noted here that the model reading module 31 and the route generating module 32 may be located in the same physical device or located in different physical devices. For example, the model reading module 31 is located in the navigation terminal, the route generating module 32 is located in the navigation server, the model reading module 31 in the navigation terminal reads the lane matrix model and provides the lane matrix model to the navigation server, and the route generating module 32 in the navigation server generates a guiding route according to the lane matrix model and then sends the guiding route back to the navigation terminal; or, conversely, the model reading module 31 is located in the navigation server, the route generating module 32 is located in the navigation terminal, the model reading module 31 in the navigation server reads the lane matrix model and provides the lane matrix model to the navigation terminal, and the route generating module 32 in the navigation terminal generates the guiding route according to the lane matrix model.
Specifically, as shown in fig. 8, the route generation module 32 may include a virtual route generation unit 3210 and a guidance route generation unit 3220. The working principle is as follows:
the model reading module 31 reads the corresponding lane matrix elements in the lane matrix according to the lanes conforming to the planned route. The planned route refers to a route from a current location where a navigated vehicle is located to a target location, and can be calculated according to an existing navigation route planning algorithm, and a specific calculation process can be performed on a navigation terminal, and can also be sent to the navigation terminal after calculation on a navigation service. The lane conforming to the planned route refers to a lane which can be passed by the navigated vehicle when driving along the planned route.
The virtual route generating unit 3210 connects the lane matrix elements read by the model reading module 31 into a virtual route that is able to reach the target lane matrix element corresponding to the target lane from the current lane matrix element corresponding to the current lane with the least number of lane changes. The virtual route is a route formed in a lane matrix, and the lane matrix is a tool for assisting navigation guidance and is not a road that actually exists, and therefore, the virtual route is referred to as a virtual route. However, it should be noted here that the lane matrix elements on the virtual route are all lane matrix elements corresponding to the actually existing lanes, and do not include filling matrix elements not corresponding to the actually existing lanes, because the virtual route is intended to guide the navigated vehicle to which lane, and the positions corresponding to the filling matrix elements not corresponding to the actually existing lanes are not accessible by the navigated vehicle, so it is not necessary to include such filling matrix elements.
The guiding route generating unit 3220 reads a corresponding lane from the map data according to the lane matrix element in the virtual route generated by the virtual route generating unit 3210 to form the guiding route. The guiding route is used for guiding the navigated vehicle to reach the target lane from the current lane. In an application scene of driving, a driver of a navigated vehicle can be prompted to change lanes according to the guide route in modes of image display, voice broadcast and the like; in an unmanned application scene, an instruction can be directly sent to a steering system of a navigated vehicle to control the navigated vehicle to perform lane change according to the guide route. The specific reading mode may be, for example, to find a corresponding lane according to a corresponding relationship between the matrix element identifier and the lane index identifier for reading.
Alternatively, the model reading module 31 may include the reading device 20, and accordingly, as shown in fig. 9, the virtual route generating unit 3210 may include: an alternative route generating subunit 3211, a calculating subunit 3212, and a virtual route generating subunit 3213. The working principle is as follows:
the alternative route generating subunit 3211 connects the lane matrix elements read by the model reading module 31 into a plurality of alternative virtual routes that can reach the target lane matrix element from the current lane matrix element; the calculation subunit 3212 calculates the sum of absolute values of differences of matrix element identifications of two adjacent lane matrix elements in each alternative virtual route; the virtual route generating subunit 3213 selects, as the virtual route, a candidate virtual route having the smallest sum of absolute values of the differences from the plurality of candidate virtual routes generated by the candidate route generating subunit 3211, according to the calculation result of the calculating subunit 3212. For a specific example, refer to the related contents of the navigation method embodiment, which are not described herein again.
The navigation device provided by the embodiment of the invention is used for navigating based on the lane matrix model, can guide vehicles to reasonably change lanes in a most efficient mode according to the lane change trend of the front road, and realizes lane-level navigation guidance, so that the speed of road passing is favorably improved, and the possibility of traffic accidents is reduced.
< first embodiment of navigation System >
An embodiment of the present invention provides a navigation system, as shown in fig. 10, the navigation system at least includes a navigation server 41 and a navigation terminal 42, where the navigation server 41 may include the above-mentioned navigation device 30 based on the lane matrix model, and the navigation terminal 42 navigates according to the guiding route generated by the navigation device 30.
Optionally, the navigation server 41 may further include the above-mentioned lane matrix model construction device 10; optionally, the navigation server 41 may further include the reading device 20 for the lane matrix model.
Optionally, the navigation terminal 42 may further include the above-mentioned lane matrix model building device 10; optionally, the navigation terminal 42 may further include the reading device 20 for the lane matrix model.
Specifically, the specific structures and functions of the construction apparatus 10, the reading apparatus 20 and the navigation apparatus 30 can be referred to the contents of the related embodiments, and are not described herein again.
The navigation system provided by the embodiment of the invention performs navigation based on the lane matrix model, can guide vehicles to reasonably change lanes in a most efficient mode according to the lane change trend of the front road, and realizes lane-level navigation guidance, so that the speed of road passing is favorably improved, and the possibility of traffic accidents is reduced.
< second embodiment of navigation System >
An embodiment of the present invention provides a navigation system, as shown in fig. 11, the navigation system at least includes a navigation server 51 and a navigation terminal 52, wherein the navigation server 51 includes the above construction apparatus 10, the construction apparatus 10 constructs the above lane matrix model, and provides the lane matrix model to the navigation terminal 52; the navigation terminal 52 includes the navigation device 30, generates the guide route based on the lane matrix model from the navigation server 51, and navigates the navigation terminal 52.
Alternatively, the reading device 20 may be provided in the navigation server 51, and the lane matrix element read by the reading device 20 may be provided to the navigation terminal 52, so that the navigation device 30 can generate the guidance route from the lane matrix element.
Alternatively, the reading device 20 may be provided in the navigation terminal 52, and the lane matrix element read by the reading device 20 may be provided to the navigation device 30 of the navigation terminal 52, so that the navigation device 30 can generate the guidance route according to the lane matrix element.
Specifically, the specific structures and functions of the construction apparatus 10, the reading apparatus 20 and the navigation apparatus 30 can be referred to the contents of the related embodiments, and are not described herein again.
The navigation system provided by the embodiment of the invention performs navigation based on the lane matrix model, can guide vehicles to reasonably change lanes in a most efficient mode according to the lane change trend of the front road, and realizes lane-level navigation guidance, so that the speed of road passing is favorably improved, and the possibility of traffic accidents is reduced.
< embodiment of storage Medium >
An embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the program is executed by a processor to perform the method for constructing the lane matrix model, the method for reading the lane matrix model, and/or the navigation method.
The embodiment can realize the lane-level navigation guidance, is beneficial to improving the passing speed of the intersection and reducing the possibility of traffic accidents.
< embodiment of computer apparatus >
The embodiment of the invention provides computer equipment which comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the processor realizes the construction method of the lane matrix model, the reading method of the lane matrix model and/or the navigation method when executing the program.
The embodiment can realize the lane-level navigation guidance, is beneficial to improving the passing speed of the intersection and reducing the possibility of traffic accidents.
Those of ordinary skill in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A geographic data structure characterized by a lane matrix model, comprising: a lane matrix; the lane matrix corresponds to a lane change of an actual road, and the lane matrix includes:
lane matrix elements corresponding to lanes in a plurality of lane group units in the map data; and
a filling matrix element, which is connected with the lane matrix element on the row and the column where the lane matrix element is located;
the lane group unit is a basic unit of a lane group of which the number of lanes does not change in the map data; the lane group is a group consisting of a plurality of lanes within one actual road width.
2. The geographical data structure of claim 1, wherein the plurality of lane group units are sequentially adjacent lane group units within a predetermined distance in the map data.
3. The geographic data structure of claim 2 wherein said predetermined distance is a predetermined distance ahead of an intersection in said map data.
4. A method for constructing the geographic data structure according to any one of claims 1 to 3, comprising: and constructing the lane matrix according to the lane information in the lane group unit.
5. The construction method according to claim 4, wherein constructing the lane matrix comprises:
determining the relative position relation of the lanes in the two adjacent lane group units in the row direction according to the lane information;
identifying the widest boundary of all the lanes according to the relative position relation of all the lane group units so as to determine the column number of the lane matrix; and
and determining a lane matrix element corresponding to the lane according to the relative position relation and the column number.
6. The building method according to claim 5, wherein the lane information is lane geographical position information, and determining the relative positional relationship comprises: and determining the relative position relation according to the geographical position information.
7. The construction method according to claim 5, wherein the lane information is lane connection information and lane increase/decrease information, and determining the relative positional relationship includes: and determining the relative position relation according to the lane connection information and the lane increase and decrease information.
8. A method for reading a geographical data structure according to any one of claims 1 to 3, comprising:
according to the position of each lane matrix element in the lane matrix, identifying matrix element identification for the matrix element; and
and reading the lane matrix element with the matrix element identification.
9. An apparatus for constructing a geographic data structure according to any one of claims 1 to 3, comprising:
the information acquisition module is used for acquiring lane information in a lane group unit from the map data; and
and the matrix construction module is used for constructing the lane matrix according to the lane information acquired by the information acquisition module.
10. The building apparatus of claim 9, wherein the matrix building module comprises:
the position determining unit is used for determining the relative position relation of the lanes in the two adjacent lane group units in the row direction according to the lane information acquired by the information acquiring module;
a column number determining unit, configured to identify a widest boundary of all the lanes according to the relative position relationship of all the lane group units determined by the position determining unit, so as to determine a column number of the lane matrix; and
and the element determining unit is used for determining a lane matrix element corresponding to the lane according to the relative position relation determined by the position determining unit and the column number determined by the column number determining unit.
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