CN114234987B - Self-adaptive smooth adjustment method for dynamic track of offline electronic map along with unmanned vehicle - Google Patents
Self-adaptive smooth adjustment method for dynamic track of offline electronic map along with unmanned vehicle Download PDFInfo
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- CN114234987B CN114234987B CN202111308147.3A CN202111308147A CN114234987B CN 114234987 B CN114234987 B CN 114234987B CN 202111308147 A CN202111308147 A CN 202111308147A CN 114234987 B CN114234987 B CN 114234987B
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- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
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Abstract
The invention provides a method for self-adaptive smooth adjustment of an offline electronic map along with a dynamic track of an unmanned vehicle, which can realize smooth switching of the map and has good real-time performance. By adopting the method, the map to be switched is displayed at the bottom layer of the front navigation map, when the map is required to be switched, the current map resource is released, and at the moment, the alternative map at the bottom layer (namely the map to be switched) is automatically displayed, so that the influence of pause when the map is switched on the real-time performance of the map display is avoided, and the accurate judgment of the unmanned vehicle position is ensured. And the method is adaptively and smoothly adjusted along with the dynamic track of the unmanned target vehicle by adopting a mode that the central point of the map display moves or a mode that the level of the map display is integrally reduced according to the road obstacle information in front of the vehicle during switching.
Description
Technical Field
The invention relates to a dynamic adjustment method of an offline map, in particular to a self-adaptive smooth adjustment method of an offline electronic map along with a dynamic track of an unmanned vehicle, and belongs to the technical field of vehicle navigation.
Background
The electronic map navigation system dynamically displays the track information of the vehicle on the map in real time, so that the electronic map navigation system needs to receive the GPS signal from the vehicle in real time and mark the position information on the corresponding point of the map.
Based on the confidentiality requirement of the unmanned target vehicle, the electronic map is required to be offline, and the method adopted by the electronic map is that the tile map in the target range is downloaded in a grading manner (graded according to resolution, the higher the level is, the higher the resolution is), the webpage map can be spliced in an offline state through a certain means, any position can be marked, and the level and the central point of the current webpage map display can be set.
However, the current map display range is limited by the display screen size, and when the vehicle track information is not in the current display range or is not relatively centered, the center point or the display level of the map display can only be switched, so that the vehicle track information can be displayed in the current map range or is relatively centered. However, the mode of directly switching the display center point or the display level of the graph is too hard and has poor real-time performance; and the accurate judgment of the unmanned target vehicle position by the user can be influenced by the blocking in the switching process.
Disclosure of Invention
In view of the above, the invention provides a method for self-adaptive smooth adjustment of an offline electronic map along with a dynamic track of an unmanned vehicle, which can realize smooth switching of the map and has good instantaneity.
The technical scheme of the invention is as follows: a method for self-adaptive smooth adjustment of an offline electronic map along with a dynamic track of an unmanned vehicle comprises the following specific steps:
Step one: downloading offline tile maps of a set range in a grading way;
Step two: before loading and displaying a map, the navigation system acquires the display size of a screen and determines the display range of the map;
Step three: the navigation system receives GPS position information from the unmanned vehicle in real time, and loads an initial map while receiving a first vehicle position signal; the center point of the initial map displayed on the screen is the received first vehicle position signal, and the position is made to be the initial position of the vehicle; setting the initial map as a current map and marking at a vehicle starting position;
Step four: loading and displaying a current map according to the obtained screen display size, and dynamically displaying a vehicle track on the map according to the received GPS position information;
step five: obtaining boundary information of a current map, judging that the distance between the current vehicle position and the map boundary is smaller than a set distance threshold value, if not, keeping the current map display range unchanged, and continuously executing the step four to dynamically display the vehicle track on the current map; if the number is smaller than the preset number, executing the step six;
Step six: adaptively adjusting the display range of the map:
preparing a preparation map, and loading the preparation map on the bottom layer of the screen; when the vehicle position reaches the current map display boundary, the current map is released, a prepared map is displayed, the vehicle travel track information is reproduced on the prepared map, and the prepared map is set as the current map.
Step seven: and judging whether the unmanned vehicle is finished, if so, ending the navigation display, and if not, executing the fourth step.
As a preferred mode of the present invention: in the sixth step, the display range of the map is adaptively adjusted by adopting a mode of integrally shrinking the display level of the map, specifically:
And acquiring the display level of the current map, and splicing tile map fragments lower than the current level to serve as a preparation map, wherein the display center point of the preparation map on the screen is still the starting position of the vehicle.
As a preferred mode of the present invention: in the sixth step, a map display center point moving mode is adopted to adaptively adjust the display range of the map, specifically:
And acquiring the display level of the current map, and splicing tile map fragments at the same level as the current map to serve as a preparation map, wherein the display center point of the preparation map is the current vehicle position.
In the step six, the navigation system receives the information of the obstacle in front of the unmanned target vehicle in real time, judges the volume of the obstacle on the road surface in front of the current vehicle, and adopts a map display center point moving mode to carry out self-adaptive smooth adjustment along with the dynamic track of the unmanned target vehicle if the volume of the obstacle is larger than a set value; otherwise, adopting a mode of integrally reducing the map display level to carry out self-adaptive smooth adjustment along with the dynamic track of the unmanned target vehicle;
When the display range of the map is adaptively adjusted in a mode that the display level of the map is integrally reduced, the display level of the current map is firstly obtained, tile map fragments lower than the current level are spliced, the tile map fragments are used as a preparation map, and the display center point of the preparation map on a screen is still the starting position of the vehicle.
When the display range of the map is adaptively adjusted in a map display center point moving mode, firstly, the display level of the current map is obtained, tile map fragments with the same level as the current map are spliced to serve as a preparation map, and the display center point of the preparation map is the current vehicle position.
As a preferred mode of the present invention: in the fourth step:
After the vehicle position information is updated, marking new vehicle position points on the map, and using lines to schematically connect the vehicle position at the current moment with the vehicle position at the last moment so as to represent the running track; along with the updating of the GPS position information, marks between the current vehicle position point and the vehicle position point at the last moment are sequentially connected, so that the track information of the vehicle is dynamically shown on a map.
As a preferred mode of the present invention: in the fifth step:
Step 501: firstly, obtaining the distance between the vehicle position at the current moment and the boundary of the current display map;
Step 502: judging whether the distance between the vehicle position at the current moment and the boundary of the current display map is smaller than 1/10 of the screen width or 1/10 of the screen height, if not, keeping the current map display range unchanged, and continuously executing the step four to dynamically display the vehicle track on the current map; if the number is smaller than the preset number, executing the step six.
As a preferred mode of the present invention: in the third step, the initial map is formed by splicing the downloaded tile map with the highest level by default.
The beneficial effects are that:
(1) By adopting the method, the map to be switched is displayed at the bottom layer of the front navigation map, when the map is required to be switched, the current map resource is released, and at the moment, the alternative map at the bottom layer (namely the map to be switched) is automatically displayed, so that the influence of pause when the map is switched on the real-time performance of the map display is avoided, and the accurate judgment of the unmanned vehicle position is ensured.
(2) The invention adaptively selects the display range of the preparation map based on the obstacle information in front of the vehicle, intelligently feeds back the road conditions around the remote unmanned vehicle, and is convenient for judging the whole driving path of the unmanned vehicle.
Drawings
FIG. 1 is an overall flow chart of the self-adaptive adjustment of an offline electronic map along with the dynamic track of an unmanned target vehicle;
FIG. 2 is a flowchart for adjusting the map display range using the smoothing in steps 601 to 604;
fig. 3 is a flowchart for adjusting the map display range by using the smoothing in steps 604 to 608.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings.
In order to solve the problems that when the track information of the unmanned target vehicle is not in the current map display range or is not relatively centered, the display center point or the display level is directly switched, and the real-time performance is poor, the embodiment provides a method for self-adaptive smooth adjustment of the navigation offline electronic map along with the dynamic track of the unmanned target vehicle; the unmanned vehicle in the embodiment is an unmanned target vehicle, and the navigation offline electronic map is an electronic map displayed by a navigation system of a remote control console.
The specific implementation mode of the method is as follows:
step 1: downloading corresponding tile map fragments of each level in the navigation system in advance according to the size of the map range; the higher the downloaded tile map level, the higher the resolution.
Step 2: before the navigation system loads and displays the map, the display size of the display screen is obtained in advance, and the size of the map display range is determined.
Step 3: the navigation system receives GPS position information from the unmanned target vehicle and information of a front obstacle of the unmanned target vehicle, and loads an initial map M 1 when receiving a first vehicle position signal (namely a first GPS signal) L 1, wherein the initial map M 1 is formed by splicing the downloaded tile map at the highest level by default; the center point of the initial map M 1 displayed on the screen is the received first vehicle position signal L 1, let L 1 be the vehicle initial position. The initial map is set to the current map M now and marked at the vehicle start position L 1 to indicate the current vehicle position on the map.
Step 4: the vehicle track is dynamically displayed on the current map M now:
Updating the vehicle position information, marking new vehicle position points on the map, and using lines to schematically connect the vehicle position at the current moment with the vehicle position at the last moment; after receiving a second vehicle position signal (namely a second GPS signal), the navigation system moves the mark to a second position point, and simultaneously displays a connecting line between the first position point and the second position point to represent a running track; therefore, along with updating of the GPS signal, marks between the current vehicle position point and the vehicle position point at the previous moment are sequentially connected, and track information of the vehicle can be dynamically shown on the map.
Step 5: obtaining boundary information displayed by a current map, and judging whether to adjust the display range of the map according to the relative position of the current vehicle position and the map boundary:
Step 501: firstly, obtaining a distance B i between the vehicle position at the current moment and the boundary of the current display map; while recording the obstacle information in front of the vehicle.
Step 502: judging whether the distance B i between the vehicle position at the current moment and the boundary of the current display map is smaller than 1/10 of the screen width or 1/10 of the screen height, if not, the current map display range is unchanged, and returning to the execution step 4 to continuously dynamically display the vehicle track on the current map M now; if the number is smaller than the preset number, step 6 is executed.
Step 6: adaptively adjusting the display range of the map:
Judging the volume range of the road surface obstacle information in front of the current vehicle, if the height of the obstacle is greater than 1/2 of the height of the vehicle chassis (ground protruding obstacle, such as thorn) or the diameter of the obstacle is greater than 1/5 of the width of the target vehicle and the depth is greater than a set value (ground recessed obstacle, such as a pit with the depth of 0.2 m), executing steps 605-608 (the flow shown in fig. 3), and adopting a map display center point moving mode to carry out self-adaptive smooth adjustment along with the dynamic track of the unmanned target vehicle; otherwise, steps 601 to 604 (i.e., the flow shown in fig. 2) are executed, and the self-adaptive smooth adjustment is performed along with the dynamic track of the unmanned target vehicle in a manner of integrally shrinking the map display level.
Step 601: acquiring a display level G now of a current map M now, and splicing tile map fragments lower than the current level by one level to serve as a preparation map M next; the preliminary map M next is loaded at the bottom layer of the screen, i.e., the next layer of the current map, and the user cannot see the preliminary map due to the vision obstruction of the current map M now, and the display center point of the preliminary map M next on the screen is still the starting position of the vehicle.
Step 602: it is determined whether or not the current vehicle position L i reaches the current map display boundary B i, if so, step 603 is executed, and if not, step 604 is executed.
Step 603: releasing the resources of the current map M now, i.e., letting the current map disappear, displaying the prepared map M next, which is prepared in advance, reproducing the vehicle already-running track information on the prepared map M next, and setting the prepared map M next as the current map M now.
Step 604: the vehicle position information is updated, new vehicle position points are marked on the map, and the vehicle position points at the current moment and the vehicle position points at the last moment are connected by using lines to be indicated. And simultaneously, recording the distance between the vehicle position at the current moment and the currently displayed map boundary until the vehicle position reaches the map display boundary.
Step 605: the display level G now of the current map M now is acquired, tile map fragments of the same level as the current map are spliced, the tile map fragments serve as a preparation map, the preparation map M next is loaded on the bottom layer of the screen, namely the next layer of the current map M now, a user cannot see the preparation map due to vision obstruction of the current map M now, and the display center point of the preparation map M next is the current vehicle position.
Step 606: it is determined whether or not the current vehicle position L i reaches the current map display boundary B i, if so, step 607 is executed, and if not, step 608 is executed.
Step 607: releasing the resources of the current map M now, i.e., letting the current map M now disappear, displaying the prepared map M next that has been prepared in advance, reproducing the vehicle already-running track information on the prepared map M next, and setting the prepared map M next as the current map M now.
Step 608: the vehicle position information is updated, new vehicle position points are marked on the map, and the vehicle position at the current moment and the vehicle position at the last moment are connected by using a line schematic. Meanwhile, the distance between the vehicle position at the current moment and the currently displayed map boundary is recorded until the vehicle position reaches the map display boundary.
Step 7: and judging whether the vehicle running is finished, if so, ending the navigation display, and if not, executing the step 4.
While the invention has been described in detail in the foregoing general description and specific examples, it will be apparent to those skilled in the art that modifications and improvements can be made thereto. Accordingly, such modifications or improvements may be made without departing from the spirit of the invention and are intended to be within the scope of the invention as claimed.
Claims (7)
1. The method for self-adaptive smooth adjustment of the offline electronic map along with the dynamic track of the unmanned vehicle is characterized by comprising the following steps of:
Step one: downloading offline tile maps of a set range in a grading way;
Step two: before loading and displaying a map, the navigation system acquires the display size of a screen and determines the display range of the map;
Step three: the navigation system receives GPS position information from the unmanned vehicle in real time, and loads an initial map while receiving a first vehicle position signal; the center point of the initial map displayed on the screen is the received first vehicle position signal, and the position is made to be the initial position of the vehicle; setting the initial map as a current map and marking at a vehicle starting position;
Step four: loading and displaying a current map according to the obtained screen display size, and dynamically displaying a vehicle track on the map according to the received GPS position information;
step five: obtaining boundary information of a current map, judging that the distance between the current vehicle position and the map boundary is smaller than a set distance threshold value, if not, keeping the current map display range unchanged, and continuously executing the step four to dynamically display the vehicle track on the current map; if the number is smaller than the preset number, executing the step six;
Step six: adaptively adjusting the display range of the map:
Preparing a preparation map, and loading the preparation map on the bottom layer of the screen; when the position of the vehicle reaches the display boundary of the current map, releasing the current map, displaying a prepared map in advance, reproducing the information of the running track of the vehicle on the prepared map, and setting the prepared map as the current map;
step 7: and judging whether the unmanned vehicle is finished, if so, ending the navigation display, and if not, executing the fourth step.
2. The method for adaptively and smoothly adjusting the offline electronic map along with the dynamic track of the unmanned vehicle according to claim 1, wherein the method comprises the following steps of: in the sixth step, the display range of the map is adaptively adjusted by adopting a mode of integrally shrinking the display level of the map, specifically:
And acquiring the display level of the current map, and splicing tile map fragments lower than the current level to serve as a preparation map, wherein the display center point of the preparation map on the screen is still the starting position of the vehicle.
3. The method for adaptively and smoothly adjusting the offline electronic map along with the dynamic track of the unmanned vehicle according to claim 1, wherein the method comprises the following steps of: in the sixth step, a map display center point moving mode is adopted to adaptively adjust the display range of the map, specifically:
And acquiring the display level of the current map, and splicing tile map fragments at the same level as the current map to serve as a preparation map, wherein the display center point of the preparation map is the current vehicle position.
4. The method for adaptively and smoothly adjusting the offline electronic map along with the dynamic track of the unmanned vehicle according to claim 1, wherein the method comprises the following steps of: in the step six, the navigation system receives the information of the obstacle in front of the unmanned target vehicle in real time, judges the volume of the obstacle on the road surface in front of the current vehicle, and adopts a map display center point moving mode to carry out self-adaptive smooth adjustment along with the dynamic track of the unmanned target vehicle if the volume of the obstacle is larger than a set value; otherwise, adopting a mode of integrally reducing the map display level to carry out self-adaptive smooth adjustment along with the dynamic track of the unmanned target vehicle;
When the display range of the map is adaptively adjusted in a mode that the display level of the map is integrally reduced, firstly, the display level of the current map is obtained, tile map fragments lower than the current level are spliced to serve as a preparation map, and the display center point of the preparation map on a screen is still the starting position of the vehicle;
When the display range of the map is adaptively adjusted in a map display center point moving mode, firstly, the display level of the current map is obtained, tile map fragments with the same level as the current map are spliced to serve as a preparation map, and the display center point of the preparation map is the current vehicle position.
5. The method for adaptively and smoothly adjusting the offline electronic map along with the dynamic track of the unmanned vehicle according to claim 1, wherein the method comprises the following steps of: in the fourth step:
After the vehicle position information is updated, marking new vehicle position points on the map, and using lines to schematically connect the vehicle position at the current moment with the vehicle position at the last moment so as to represent the running track; along with the updating of the GPS position information, marks between the current vehicle position point and the vehicle position point at the last moment are sequentially connected, so that the track information of the vehicle is dynamically shown on a map.
6. The method for adaptively and smoothly adjusting the offline electronic map along with the dynamic track of the unmanned vehicle according to claim 1, wherein the method comprises the following steps of: in the fifth step:
Step 501: firstly, obtaining the distance between the vehicle position at the current moment and the boundary of the current display map;
Step 502: judging whether the distance between the vehicle position at the current moment and the boundary of the current display map is smaller than 1/10 of the screen width or 1/10 of the screen height, if not, keeping the current map display range unchanged, and continuously executing the step four to dynamically display the vehicle track on the current map; if the number is smaller than the preset number, executing the step six.
7. The method for adaptively and smoothly adjusting the offline electronic map along with the dynamic track of the unmanned vehicle according to claim 1, wherein the method comprises the following steps of: in the third step, the initial map is formed by splicing the downloaded tile map with the highest level by default.
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