CN120760749A

CN120760749A - Vehicle lane-level navigation control method, device, and terminal

Info

Publication number: CN120760749A
Application number: CN202510766218.6A
Authority: CN
Inventors: 李雪松; 林裕佳; 刘征征; 李昕
Original assignee: Neusoft Corp
Current assignee: Neusoft Corp
Priority date: 2025-06-09
Filing date: 2025-06-09
Publication date: 2025-10-10

Abstract

The present disclosure relates to a lane-level navigation control method, device, and terminal for a vehicle. The method comprises: obtaining lane line information for the lane in which the vehicle is located, and obtaining driving condition information for each lane on the road on which the vehicle is traveling, wherein the driving condition information includes driving direction information for each lane; determining action guidance information for the vehicle based on the lane line information and the driving condition information, wherein the action guidance information includes driving route information; and outputting the action guidance information when the lane line information satisfies specified conditions. The present disclosure improves the accuracy of lane-level navigation to a certain extent by combining lane line information and driving condition information to comprehensively obtain action guidance information, and displays the guidance information when the lane line information satisfies specified conditions.

Description

Lane-level navigation control method, device and terminal of vehicle

Technical Field

The disclosure relates to the technical field of navigation, in particular to a lane-level navigation control method, device and terminal of a vehicle.

Background

With the development of electronic map technology, navigation by using a navigation tool when driving a vehicle is out has become a driving habit of people, wherein the occurrence of lane-level navigation further improves the position of the electronic map in the aspect of travel. The lane-level navigation is a navigation technology based on high-precision positioning, and can identify a specific lane where a vehicle is located in real time and provide refined path guidance according to lane-level information. However, lane-level navigation has problems of high cost and low navigation accuracy.

Disclosure of Invention

In order to overcome the problems in the related art, the present disclosure provides a lane-level navigation control method, apparatus, and terminal for a vehicle.

According to a first aspect of embodiments of the present disclosure, there is provided a lane-level navigation control method of a vehicle, the method including:

the method comprises the steps of obtaining lane line information of lanes where vehicles are located, and obtaining driving condition information of each lane on a vehicle driving road, wherein the driving condition information comprises driving direction information of each lane;

determining action guide information of the vehicle according to the lane line information and the driving condition information, wherein the action guide information comprises driving route information;

and outputting the action guide information when the lane line information meets the specified condition.

Optionally, the determining the motion guide information of the vehicle according to the lane line information and the driving condition information includes:

determining that an intersection to be turned exists in front of the running of the vehicle based on the running condition information, and acquiring the turning information of the vehicle at the intersection to be turned when the vehicle is determined to have a lane changing requirement;

And determining a recommended lane matched with the steering information, and generating the action guide information based on the lane line information and the recommended lane.

Optionally, the lane line information includes first fitting information of a first target lane line and second fitting information of a second target lane line, the first target lane line is one of two side lane lines of the target lane far away from the recommended lane, and the second target lane line is one of two side lane lines of the target lane near the recommended lane;

The obtaining lane line information of the target lane where the vehicle is located includes:

sampling coordinate information of a plurality of sampling points between the starting point and the ending point of the first target lane line and the second target lane line is respectively obtained;

and respectively determining the first fitting information and the second fitting information according to the acquired sampling coordinate information.

Optionally, the generating the action guidance information based on the lane line information and the recommended lane includes:

Determining first coordinate information of a first position based on the first fitting information and the second fitting information, wherein the first position is a position located at a first specified distance in front of the vehicle in the target lane;

acquiring third fitting information of a third target lane line according to the second fitting information, wherein the third target lane line is one of lane lines on two sides of the recommended lane, which is far away from the target lane;

determining second coordinate information of a second position and third coordinate information of a third position according to the second fitting information and the third fitting information, wherein the second position is a position at a second designated distance in front of the vehicle in the recommended lane, the third position is a position at a third designated distance in front of the vehicle in the recommended lane, and the second designated distance is different from the third designated distance;

And fitting a lane change curve of the vehicle according to the first coordinate information, the second coordinate information and the third coordinate information to generate the action guide information.

Optionally, the method further comprises:

In response to the process of executing lane changing operation based on the action guide information, acquiring a first transverse distance between the vehicle and the first target lane line before lane changing, and acquiring a second transverse distance between the vehicle and the second target lane line during lane changing;

And judging whether the lane change operation is successful or not according to the difference value between the first transverse distance and the second transverse distance.

The method for acquiring the first transverse distance between the vehicle and the first target lane line before lane change and the second transverse distance between the vehicle and the first target lane line in the lane change process comprises the following steps:

acquiring a first intercept coefficient of the first fitting information before lane change, and taking the first intercept coefficient as the first transverse distance;

acquiring a second intercept coefficient of the second fitting information in the lane changing process of the vehicle, and taking the second intercept coefficient as the second transverse distance;

Judging whether the lane change operation is successful or not according to the difference value between the first transverse distance and the second transverse distance, comprising:

and when the difference value between the first intercept coefficient and the second intercept coefficient is smaller than a preset difference value, determining that the lane change operation is successful.

Optionally, the determining a recommended lane matching the steering information includes:

when the vehicle has a left turn demand based on the steering information, a left turn lane is taken as the recommended lane, or

And when the vehicle is determined to have a right turn requirement based on the steering information, taking a right turn lane as the recommended lane.

determining action guide information of the vehicle according to the lane line information and the driving condition information under the condition that no special lane exists on the driving road of the vehicle, wherein the special lane is an unconventional steering lane;

And/or when the special lane exists on the vehicle driving road, acquiring the steering information matched with the special lane, and outputting the steering information.

According to a second aspect of embodiments of the present disclosure, there is provided a lane-level navigation control apparatus of a vehicle, the apparatus including:

the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is configured to acquire lane line information of a lane where a vehicle is located and acquire driving condition information of each lane on a vehicle driving road, and the driving condition information comprises driving direction information of each lane;

A determining module configured to determine action guide information of the vehicle according to the lane line information and the driving situation information, the action guide information including driving route information;

And the output module is configured to output the action guide information when the lane line information meets a specified condition.

According to a third aspect of embodiments of the present disclosure, there is provided a terminal comprising:

a memory having a computer program stored thereon;

a processor for executing the computer program in the memory to implement the steps of the lane-level navigation control method of the vehicle provided in the first aspect.

Through the technical scheme, the method and the device can comprehensively determine the action guide information of the vehicle by combining the lane line information of the lane where the vehicle is located and the driving condition information of each lane, wherein the lane line information is obtained by standard definition data on a road, and the action guide information comprises driving route information. And when the lane line information meets the specified conditions, the accuracy of lane-level navigation control can be ensured to a certain extent by outputting the action guide information.

Additional features and advantages of the present disclosure will be set forth in the detailed description which follows.

Drawings

The accompanying drawings are included to provide a further understanding of the disclosure, and are incorporated in and constitute a part of this specification, illustrate the disclosure and together with the description serve to explain, but do not limit the disclosure. In the drawings:

FIG. 1 is an application scenario diagram illustrating lane-level navigation control of a vehicle according to an example embodiment.

FIG. 2 is a flow chart illustrating lane-level navigation control of a vehicle according to an exemplary embodiment.

Fig. 3 is a schematic diagram showing a vehicle travel path in lane-level navigation control of a vehicle according to an exemplary embodiment.

Fig. 4 is a diagram showing a display example of motion guide information in lane-level navigation control of a vehicle according to an exemplary embodiment.

FIG. 5 is a flow chart illustrating lane-level navigation control of another vehicle according to an exemplary embodiment.

Fig. 6 is a schematic diagram showing a lane-changing left lane of a vehicle in lane-level navigation control of another vehicle according to an exemplary embodiment.

Fig. 7 is a schematic diagram showing a lane-changing right lane of a vehicle in lane-level navigation control of another vehicle according to an exemplary embodiment.

Fig. 8 is a flow chart showing a vehicle lane change control in lane-level navigation control of another vehicle according to an exemplary embodiment.

Fig. 9 is a block diagram illustrating a lane-level navigation control apparatus of a vehicle according to an exemplary embodiment.

Fig. 10 is a block diagram of a terminal according to an exemplary embodiment.

Detailed Description

Specific embodiments of the present disclosure are described in detail below with reference to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the disclosure, are not intended to limit the disclosure.

It should be noted that, all actions for acquiring signals, information or data in the present disclosure are performed under the condition of conforming to the corresponding data protection rule policy of the country of the location and obtaining the authorization given by the owner of the corresponding device.

In the description of the present disclosure, terms such as "first," "second," and the like are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. In addition, unless otherwise stated, in the description with reference to the drawings, the same reference numerals in different drawings denote the same elements.

Although operations or steps are described in a particular order in the figures in the disclosed embodiments, it should not be understood as requiring that such operations or steps be performed in the particular order shown or in sequential order, or that all illustrated operations or steps be performed, to achieve desirable results. In embodiments of the present disclosure, these operations or steps may be performed in series, may be performed in parallel, or may be performed in part.

The lane-level navigation control method of the vehicle provided by the embodiment of the disclosure can be applied to an application environment as shown in fig. 1. Wherein the terminal 11 may communicate with the server 13 via the network 12. Here, the terminal 11 may be an electronic device, a general vehicle, an autonomous vehicle, a wearable device, or the like. For example, various intelligent vehicle-end applications, such as intelligent driving, intelligent navigation applications, etc., may be installed on an autonomous vehicle, a driving assistance system, a navigation application module, etc., may be installed on a general vehicle, and a navigation application, a map application, etc., may be installed on an electronic device or a wearable device.

Network 12 may provide a medium for communication links between terminals 11 and servers 13, and network 12 may include various connection types, such as wired, wireless communication links, or fiber optic cables, among others.

The server 13 may provide various behavior data processing services, for example, the server 13 may acquire driving path information at the time of driving or navigation from the terminal 11, acquire image data or the like from the terminal 11, and then process the data to obtain driving characteristic information.

It should be noted that, the terminal 11 may be a vehicle driven by a traveling object, or an intelligent vehicle-mounted device on the vehicle, or a desktop computer, a notebook computer, a smart phone, a tablet computer, and a portable wearable device carried by the traveling object, where the traveling object is disposed on the vehicle during driving the vehicle.

The server 13 may be hardware or software. When the server 13 is hardware, it may be implemented as a distributed server cluster composed of a plurality of servers, or as a single server. When the server 13 is software, it may be implemented as a plurality of software or software modules (for example, to provide distributed services), or may be implemented as a single software or software module, which is not particularly limited herein.

It should be understood that the number of terminals 11, networks 12 and servers 13 in fig. 1 is merely illustrative. There may be any number of terminals, networks, and servers, as desired for implementation.

Lane-level navigation is a high-level navigation technique that can be used to assist a driver in accurately selecting a lane and accurately driving a vehicle in a complex road traffic environment. By way of example, lane-level navigation techniques may be implemented by global positioning system (Global Positioning System, GPS), map data, vehicle cameras, radar and sensors, among others.

Specifically, the lane-level navigation may display, on a navigation display screen of the vehicle, a situation of a lane in which the vehicle is located in real time. For example, information such as lane width, turning angle, road sign, and traffic signal is displayed, the driver is assisted in driving the vehicle accurately, and traffic accidents are avoided in a complex traffic environment. In addition, the lane-level navigation can also provide information such as traffic jam information, road construction information, optimal driving route and the like so as to provide more convenient driving experience for a driver.

However, since lane-level navigation mainly relies on sensor technologies such as GPS positioning, map data, and vehicle-mounted cameras to realize positioning of a vehicle and display of lane information, there are problems of low positioning accuracy, data update lag, high navigation cost, and the like to some extent. In particular, conventional GPS positioning is prone to interference in closed environments such as high-rise buildings and tunnels, and thus has a problem of inaccurate positioning. Map data of a conventional navigation system may not be updated in time, thereby causing inaccurate road condition information provided by a map. The traditional lane-level navigation technology has limited recognition capability on road signs and traffic signs, and cannot display lane information completely and accurately.

In order to solve the above problems, the embodiments of the present disclosure provide a lane-level navigation control method for a vehicle, where by combining lane line information of a lane and driving condition information of each lane on a lane driving path, the method can achieve obtaining of action guiding information with low cost, and the action guiding information is output when the lane information meets specified conditions, so that accuracy of navigation can be ensured, that is, more accurate, real-time and safe navigation service can be provided, driving experience can be further improved, and driving risk is reduced.

FIG. 2 is a flowchart illustrating a vehicle-based lane-level navigation control method, as shown in FIG. 2, according to an exemplary embodiment, which may include the following steps.

In step S110, lane line information of a lane in which the vehicle is located is acquired, and travel condition information of each lane on a vehicle travel path is acquired.

In some embodiments, the lane line information may be lane line information of a lane in which the vehicle is traveling, and in particular, the lane line information of the lane may include fitting information of the lane line, a type, a lane line color, a start point coordinate (start value), a plurality of intermediate point coordinates, an end point coordinate (end value), and the like of the lane line. Here, the lane line information may also be referred to as lane line identification data.

The vehicle can acquire lane line information of a lane in real time based on a built-in sensor during running, and the lane line information can also be called visual lane line information. For example, the vehicle can recognize the type of the lane line in real time through an image acquisition device (camera) to obtain the type of the lane line. For another example, the vehicle may acquire a plurality of coordinate information of the lane line through at least one of an image acquisition device, a laser radar, a millimeter wave radar, or the like, and fit the coordinate information to obtain fitting information of the lane line.

Specifically, the embodiment of the disclosure may respectively obtain sampling coordinate information of a plurality of sampling points between a starting point and an ending point of lane lines at two sides of a target lane, and on the basis, respectively determine fitting information of the lane lines at two sides of the target lane according to the obtained sampling coordinate information. The sampling coordinate information of the plurality of sampling points can be standard definition data obtained through sensing of a vehicle camera.

In the embodiment of the disclosure, the fitting information may be acquired based on the own vehicle coordinate system of the vehicle, i.e. the origin of the vehicle may be the origin of the coordinate system. That is, the coordinate system may be located on the vehicle, and the origin of the coordinate system may be the center (centroid) of the vehicle, the center of the rear axle of the vehicle, or the center of the front axle of the vehicle, and specifically, which point is used as the origin of the coordinate system is not specifically limited, and may be selected according to the actual situation. The forward direction of the vertical axis (X axis) of the coordinate axis may be the forward direction of the vehicle, and the forward direction of the horizontal axis (Y axis) may be the left direction of the vehicle.

In the disclosed embodiments, the types of lane lines include, but are not limited to, solid lines, broken lines, double lines, road edge lines, and other lane lines. It should be noted that the guardrail may be identified as a lane line during visual inspection, and thus the guardrail may also be a special lane line type. Lane line colors include, but are not limited to, white, yellow, and the like.

Alternatively, the starting point coordinate of the lane line may be a starting point of the lane line that the camera can recognize, for example, the reference value of the starting point X coordinate may be 0, the plurality of intermediate point coordinates of the lane line may be other coordinate points located between the starting point coordinate and the end point coordinate, and the end point coordinate of the lane line may be an end point of the lane line that the camera can recognize, for example, the reference value of the end point X coordinate may be 80m.

In addition, the lane line information may include left lane line information and right lane line information, wherein there may be a difference between a lane line type, a color, start point coordinate information, end point coordinate information, etc. of the left lane line information and a lane line type, a color, start point coordinate information, end point coordinate information, etc. of the right lane line information. For example, the vehicle shown in fig. 3 is in a lane 101, the type of the left lane line 102 of the lane 101 is a broken line, and the type of the right lane line 103 is a solid line.

In summary, the lane line information may be determined by standard definition data on a road obtained by an on-vehicle camera and other devices, and include lane lines of different types such as solid lines, dashed lines, road edges and the like. The data is important to a driving assistance system and an automatic driving system, and can assist in helping a vehicle to keep running in a correct lane, so that traffic accidents are avoided. It is worth emphasizing that the lane line information determined by standard definition data overcomes the defect that the lane information cannot be completely and accurately displayed by the traditional lane-level navigation.

In other embodiments, the driving situation information of each lane on the vehicle driving road may include driving situation information of each lane, and the driving situation information may be navigation lane information data. The lane travel road may include a plurality of lanes, which may be bidirectional lanes or unidirectional lanes, and the vehicle travel road as shown in fig. 3 may include three lanes, which are unidirectional lanes.

Wherein each lane has respective driving situation information, which may include driving direction information of the lane, which may include left turn, right turn, straight run, turning around, etc. For example, the travel direction information of the lane 101 is straight, the travel direction information of the lane 104 is left turn, the travel direction information of the lane 105 is straight, and the like.

The driving direction information may be determined according to a basic attribute of the lane, for example, according to a function of the lane, for example, the lane is used for straight running, and the corresponding driving mode information may be used for straight running. In addition, the traveling direction information may be acquired in combination with the basic attribute of the lane and the path planning information, which is comprehensively acquired based on the start position and the end position of the vehicle.

Alternatively, the driving situation information of each lane may include speed limit information, truck prohibition information, weight limit information, and the like, in addition to the driving direction information.

In summary, the driving situation information (navigation lane information data) of the lanes may be information about driving situations of the respective lanes provided by the navigation system, i.e., the embodiments of the present disclosure may receive driving situation information of each lane on the vehicle driving road from the navigation system. For example, left turn, right turn, etc. information is received from the navigation system. According to the embodiment of the present disclosure, an optimal driving lane may be selected according to driving situation information, so as to improve traffic efficiency and safety. By analyzing the driving condition information of the lanes, the vehicle can make a correct decision, such as selecting which lane to turn left or right, so as to avoid traffic jam or accident caused by misentering the wrong lane.

In step S120, the behavior guidance information of the vehicle is determined from the lane line information and the traveling condition information.

As an alternative, after the lane line information and the driving situation information are acquired, the embodiments of the present disclosure may comprehensively determine the movement guide information of the vehicle according to the lane line information and the driving situation information of each lane. The movement guide information may include driving route information, that is, the driving route information may indicate how the vehicle moves, where the movement may include lane change or head drop, and the like.

For example, the action guide information of the vehicle may be lane change guide information, which may include a lane change navigation path based on which a driver can be assisted to know clearly how to make a lane change.

In the embodiment of the disclosure, the action guide information may be obtained by integrating and processing lane line information and driving condition information. As known from the above description, the lane line information may include a start point coordinate, a plurality of intermediate point coordinates, and an end point coordinate of the lane line, and a plurality of start point coordinates, end point coordinates, and the like may be generated at different times along with the running of the vehicle. Therefore, when the lane line information is received, the embodiment of the disclosure may integrate the lane line information to obtain the fitting information of the lane lines, and since the position information corresponding to different lane lines is different, the fitting information corresponding to the fitting information is also different.

As an example, by fitting a plurality of coordinate points of the left lane line 102 shown in fig. 3, the embodiment of the present disclosure may obtain fitting information a, and an equation of the fitting information a may be:

y1=C0₁+C1₁×x1+C2₁×x1²+C3₁×x1³;

where x1 may be the vertical axis coordinates of the left lane 102 with respect to the vehicle and y1 may be the horizontal axis coordinates of the left lane with respect to the vehicle. Here, C0 ₁ may be the intercept coefficient of the vehicle with respect to the left lane line 102.

As another example, by fitting a plurality of coordinate points of the right lane line 103 shown in fig. 3, the embodiment of the present disclosure may obtain fitting information B, and an equation of the fitting information B may be:

y2=C0₂+C1₂×x2+C2₂×x2²+C3₂×x2³;

Where x2 refers to the vertical axis coordinates of the right lane line relative to the vehicle, and y2 refers to the horizontal axis coordinates of the right lane line relative to the vehicle. Here, C0 ₂ may be the intercept coefficient of the vehicle with respect to the right lane line 103.

The values of the different lane line shape coefficients C0, C1, C2 and C3 may be different, and the fitting information is different when the coefficients are different. The equation of the fitting information is a cubic fitting equation, and the optimized fourth equation and the like can be obtained through fitting in order to improve the accuracy in the embodiment of the disclosure. It can be understood that, in order to determine the linear coefficients of the lane, the number of coordinates of the selected sampling points may be adjusted accordingly according to the number of coefficients to be identified, which is not described herein.

As a specific implementation manner, when fitting information is obtained, according to the fitting information, the embodiment of the disclosure can gradually increase the x value from 0 to 80 to obtain a corresponding y value, and correspondingly combine a plurality of x and y values to obtain an array of a plurality of points (x and y), and then draw the data to a canvas for displaying, so that the accuracy and the comprehensiveness of lane line display can be improved.

On the basis, the method and the device can comprehensively determine the action guide information of the vehicle by combining the fitting information and the driving situation information. By comprehensively utilizing the lane line information (lane line identification data) and the driving condition information (navigation lane information data) of the lanes, the driving route can be planned more intelligently, the types and the driving conditions of different lanes can be accurately identified, and therefore driving safety and efficiency are improved. Moreover, the accuracy and timeliness of the data are critical to the development and application of the automatic driving technology, and the vehicle can be assisted to realize accurate path planning and lane selection to a certain extent, so that driving experience and road passing efficiency can be improved.

In step S130, when the lane information satisfies a predetermined condition, the operation guidance information is output.

As an alternative, after the action guide information is acquired, the embodiment of the present disclosure may determine whether the lane information satisfies the specified condition, and if it is determined that the lane information satisfies the specified condition, the embodiment of the present disclosure may output the action guide information, i.e., display the action guide information on the terminal. For better understanding of the display of the action guide information, the embodiment of the disclosure gives an example diagram as shown in fig. 4, and based on fig. 4, it is known that when it is determined that the lane line information satisfies the specified condition, a lane change guide prompt may be displayed on the display screen.

In addition, while the lane change guidance prompt is displayed, the embodiment of the disclosure may also display the distance between the vehicle and the front intersection, the name of the current driving road, the speed limit of the target lane, and the like.

In a specific embodiment, the lane information meeting the specified condition may be that the type of the target lane-line is a specified type, such as when the type of the target lane-line is determined to be a broken line, the disclosed embodiments may output the motion guide information, which may be lane-change guide information at this time,

In addition, the specified condition may be matched with the action guide information, and if the action guide information is different, the corresponding specified condition may be different. For example, when the action guide information is a lane change guide information, the corresponding specified condition may be whether the type of the lane line is a specified type. For another example, when the action guide information is u-turn guide information, the corresponding specified condition may be that the type of the lane line is a specified type and the color of the lane line is a specified color. Therefore, when determining whether the lane line information satisfies the specified condition, the embodiments of the present disclosure may first acquire the condition corresponding to the motion guide information, and then determine whether to output the motion guide information according to the condition.

It should be noted that, in the embodiment of the disclosure, the lane line information and the driving condition information of each lane may be collectively referred to as standard definition data, and implementing lane-level navigation based on the standard definition data may reduce strong dependency between lane-level navigation and positioning accuracy, road condition display, adaptability, practicality, and the like, so as to provide a more accurate and convenient navigation experience for a driver.

According to the method and the device for obtaining the action guide information, the action guide information of the vehicle is comprehensively determined by combining the lane information of the lane where the vehicle is located and the driving condition information of each lane, the action guide information comprises the driving route information, and the cost for obtaining the action guide information can be reduced because the type of the lane line and the driving direction information of the lane are combined in the obtaining of the action guide information. And when the lane line information meets the specified conditions, the accuracy of lane-level navigation control can be ensured to a certain extent by outputting the action guide information.

FIG. 5 is a flowchart illustrating another vehicle-based lane-level navigation control method, as shown in FIG. 5, according to an exemplary embodiment, which may include the following steps.

In step S210, lane line information of a lane in which the vehicle is located is acquired, and travel condition information of each lane on the vehicle travel path is acquired.

The specific embodiment of step S210 is described in detail above, and will not be described herein.

In step S220, it is determined that there is an intersection to be turned in front of the vehicle running based on the running condition information, and when it is determined that the vehicle has a lane change requirement, the turning information of the intersection to be turned is obtained.

As an optional manner, in determining the action guide information of the vehicle according to the lane line information and the driving condition information of each lane, the embodiment of the disclosure may determine whether there is a waiting intersection in front of the vehicle based on the driving condition information, where the waiting intersection may be obtained by the navigation system according to the starting position and the terminal position plan of the user.

Under the condition that the situation that the crossing to be turned exists in front of the vehicle is detected, the embodiment of the disclosure can continuously determine whether the vehicle has the lane changing requirement, and if the vehicle is determined to have the lane changing requirement, the turning information of the crossing to be turned can be obtained. Otherwise, if the vehicle is determined not to have the lane changing requirement, the driving route information sent by the navigation system is directly displayed, namely, the action guide information is not required to be generated.

As one example, when a left turn intersection is detected to exist in front of a vehicle, if the vehicle is detected to be located in a left turn lane, it is determined that the vehicle has no lane change requirement, and when a left turn intersection is detected to exist in front of the vehicle, if the vehicle is detected to be located in a middle lane, it is determined that the vehicle has a lane change requirement, and at this time, the steering information of the vehicle at the intersection to be turned can be acquired. That is, determining whether the vehicle has a lane change demand is primarily determining whether the vehicle is located on a turning lane, and if so, determining that there is no lane change demand. Otherwise, if it is determined that the vehicle is not located in the steering lane, it is determined that the vehicle has a lane change demand.

As another example, when it is detected that there is a right turn road ahead of the vehicle, it is determined that the vehicle has no lane change demand if it is detected that the vehicle is located in a right turn road, and when it is detected that there is a right turn road ahead of the vehicle, it is determined that the vehicle has a lane change demand if it is detected that the vehicle is located in a middle lane, i.e., traveling in a lane other than the right turn road, at which time the steering information of the vehicle at the intersection to be turned can be acquired.

In the embodiment of the disclosure, the steering information of the intersection to be turned may be determined based on the driving condition information, and whether the vehicle performs a left turning operation or a right turning operation at the intersection to be turned or keeps straight is determined based on the steering information of the intersection to be turned.

In step S230, a recommended lane matching the steering information is determined, and the action guide information is generated based on the lane line information and the recommended lane.

As an alternative way, if the steering information of the to-be-turned intersection is different, the corresponding recommended lanes are also different, so after the steering information of the to-be-turned intersection is obtained, the embodiment of the disclosure may determine the recommended lane matched with the steering information. On this basis, the action guide information is generated based on the lane line information and the recommended lane.

As is known from the above description, the lane line information may include fitting information of two side lane lines of the target lane, where the two side lane lines may be a first target lane line that is one of the two side lane lines of the target lane away from the recommended lane and a second target lane line that is one of the two side lane lines of the recommended lane adjacent to the target lane.

As one example, when the left lane 104 shown in fig. 3 is a recommended lane, the right lane line 103 may be a first target lane line and the left lane line 102 may be a second target lane line.

As another example, when the right lane 105 shown in fig. 3 is a recommended lane, the left lane line 102 may be a first target lane line and the right lane line 103 may be a second target lane line.

Before this, the embodiment of the present disclosure may acquire sampling coordinate information of a plurality of sampling points between a start point and an end point of a first target lane line and a second target lane line, respectively, and determine first fitting information and the second fitting information, respectively, according to the acquired sampling coordinate information.

In the embodiment of the disclosure, the recommended lanes may be lanes matched with the steering information, and if the steering information is different, the corresponding recommended lanes are also different. Specifically, the recommended lane may be a left-turn lane when the steering information is left-turn, and may be a right-turn lane when the steering information is right-turn.

For example, if it is determined that the vehicle has a left turn demand based on the steering information, the disclosed embodiments may take a left turn lane as a recommended lane, where the left turn lane may be one or more. For example, when the current driving road of the vehicle is three lanes and the vehicle is driven on the middle lane and the steering information is determined to be left turn, the leftmost lane can be taken as the recommended lane, and one left turn lane exists at the moment. For another example, the current driving road of the vehicle is five lanes, wherein two lanes on the left side are left-turn lanes, the vehicle runs on the middle lane, and when the steering information is determined to be left-turn, the two left-turn lanes on the left side can be taken as recommended lanes, and at the moment, the number of the left-turn lanes is two.

When there are a plurality of recommended lanes, the embodiment of the disclosure may take the lane closest to the vehicle as the target recommended lane, and generate the action guidance information based on the target recommended lane and the lane line information. For example, when it is determined that the vehicle has a left turn demand and there are a plurality of left turn lanes, the lane closest to the vehicle on the left side may be taken as the target recommended lane.

As an alternative, after the recommended lane is acquired, the embodiments of the present disclosure may generate the action guide information based on the recommended lane and lane line information.

Specifically, the embodiment of the disclosure may determine first coordinate information of a first position based on first fitting information of a first target lane line and second fitting information of a second target lane line, where the first position may be a position located at a first specified distance in front of the vehicle within the target lane. The first preset distance may be, for example, 10m.

In addition, the second fitting information of the second target lane line may obtain third fitting information of a third target lane line, which may be one of the two side lane lines of the recommended lane away from the target lane.

On the basis, second coordinate information of a second position and third coordinate information of a third position are determined according to the second fitting information and the third fitting information, wherein the second position can be a position in front of a vehicle in a recommended lane at a second designated distance, and the third position can be a position in front of the vehicle in the recommended lane at a third designated distance, and the second designated distance is different from the third designated distance. For example, the second preset distance may be 40m, and the second preset distance may be 80m.

Finally, the embodiment of the disclosure may comprehensively fit the lane-changing curve of the vehicle according to the obtained first coordinate information, second coordinate information and third coordinate information, so as to generate the action guide information.

As an example, the embodiment of the present disclosure may acquire two coordinate point information from first specified distances of lane lines on the left and right sides of a lane where a vehicle is located, the two coordinate points being a point 601 and a point 602, respectively, which have a longitudinal distance from the vehicle of a first specified distance D1, the coordinate information of the point 601 being (D1, y 1), and the coordinate information of the point 602 being (D1, y 2). Then, the embodiment of the present disclosure may obtain the first coordinate point 603 by calculating an average value using two points, and the corresponding coordinates thereof are (D1, (y1+y2)/2), where y1 may be obtained by inputting the first specified distance into the first fitting information, and y2 may be obtained by inputting the first specified distance into the second fitting information.

On this basis, as shown in fig. 6, when the recommended lane is determined to be the left-side lane, an average value is calculated by taking a point from a second specified distance D2 of the left-side lane line (second target lane line) and the left-side lane line (third target lane line), to obtain a second coordinate point 604, and an average value is calculated by taking a point from a third specified distance D3 of the left-side lane line and the left-side lane line, to obtain a third coordinate point 605. The new first coordinate 603, second coordinate 604 and third coordinate 605 are added to the position of the vehicle, and a lane change line point column can be generated through a bezier curve model and can be used as action guiding information.

Alternatively, as shown in fig. 7, when the recommended lane is determined to be the right-side lane, an average value is calculated by taking a point from a second specified distance D2 of the right-side lane line (second target lane line) and the right-side lane line (third target lane line), a second coordinate point 711 is obtained, and an average value is calculated by taking a point from a third specified distance D3 of the right-side lane line and the right-side lane line, and a third coordinate point 712 is obtained. The first coordinate 603, the second coordinate 711 and the third coordinate 712 which are newly generated are added to the position of the vehicle, and a lane change line point column can be generated through a bezier curve model and can be used as action guiding information.

In an embodiment of the disclosure, the third fitting information of the third target lane line may be obtained based on the second fitting information of the second target lane line. For example, the magnitude of the second fit information is copied to the third fit information, but the Y-axis coordinate information of the second fit information and the third fit information are not identical, i.e., the intercept of the second fit information and the third fit information is not identical, and the intercept may be the width of the recommended lane.

It should be noted that the coordinate points are generated based on pre-acquired lane line information, for example, based on a fitting information equation in the lane line information.

As another alternative, before determining the motion guide information of the vehicle according to the lane information and the driving situation information, the embodiment of the present disclosure may determine whether a special lane exists on the driving road of the vehicle at the current time. If it is determined that no special road exists on the driving road of the vehicle, the embodiment of the disclosure may determine action guide information of the vehicle according to lane line information and driving condition information, wherein the special lane is an irregular steering lane.

Here, the unconventional steering lane may be a case where the right-side lane is taken as the left steering lane, i.e., the left-turn lane is on the far right side, or may be a case where the left-side lane is taken as the right steering lane, i.e., the right-turn lane is on the far left side, or the conventional steering lane may take the left-side lane as the left steering lane, or the right-side lane as the right steering lane.

Alternatively, if it is determined that a special lane exists on a vehicle driving road, the embodiments of the present disclosure may acquire steering information matching the characteristic lane and output the steering information, where the steering information may be opposite to action guiding information of a regular lane.

Alternatively, when it is determined that a special lane exists on a vehicle driving road, the embodiment of the disclosure may determine the motion guide information of the vehicle according to the lane line information and the driving situation information, but on this basis, the embodiment of the disclosure may invert the motion guide information. For example, the motion guide information may be a left lane change, and vice versa, a right lane change, where the negating may be a negating of the y-axis information.

In step S240, when the lane information satisfies a predetermined condition, the operation guidance information is output.

As an alternative, after the action guide information is acquired, the embodiment of the present disclosure may determine whether to output the action guide information according to the type of the lane line. Specifically, a target lane line is determined based on the driving condition information, the type of the target lane line is acquired, and then, if the type of the target lane line is determined to be a broken line, the action guide information is output. Otherwise, the display of the action guide information is not executed.

As one example, when it is determined that the vehicle needs to turn left based on the driving situation information, the embodiment of the present disclosure takes a left lane line of a lane in which the vehicle is located as a target lane line, and acquires the type of the left lane line, and if it is determined that the left lane line is a broken line, the motion guidance information is output.

As another example, when it is determined that the vehicle needs to turn right based on the driving situation information, the embodiment of the present disclosure takes a right lane line of a lane in which the vehicle is located as a target lane line, and acquires the type of the right lane line, and if it is determined that the right lane line is a broken line, the motion guidance information is output.

Here, outputting the action guide information may be drawing the action guide information (lane change line point column) onto the canvas, followed by a lane change success determination.

As a specific embodiment, when it is determined from the driving situation information that the current intersection is a left turn and the point is left turn, the embodiment of the present disclosure may use the leftmost lane as the recommended lane, and may highlight the recommended lane, for example, the left turn indicator 401 in fig. 4. On the basis, the embodiment of the disclosure can judge the type of the left side of the vehicle according to the lane line information. And when the type of the lane line on the left side of the vehicle is determined to be a dotted line, lane change can be performed, and action guide information can be output at the moment.

As another specific embodiment, when it is determined from the driving situation information that the current intersection is a right turn and the point is a right turn, the embodiment of the present disclosure may use the rightmost lane as the recommended lane, and may highlight the recommended lane at the same time. On the basis, the embodiment of the disclosure can judge the type of the lane line on the right side of the vehicle according to the lane line information. And when the type of the lane line on the right side of the vehicle is determined to be a dotted line, lane change can be performed, and action guide information can be output at the moment.

As another alternative, after outputting the motion guide information, the vehicle may perform a lane change operation based on the motion guide information. Based on this, embodiments of the present disclosure may determine whether the lane change operation was successful.

Specifically, in response to a lane change operation performed based on motion guide information, the embodiment of the disclosure may obtain a first lateral distance between a lane before a lane change of a vehicle and a first target lane, and obtain a second lateral distance between the lane change of the vehicle and a second target lane, and based on this, determine whether the lane change operation is successful according to a difference between the first lateral distance and the second lateral distance.

Specifically, the embodiment of the disclosure may acquire a first intercept coefficient of first fitting information before lane change, take the first intercept coefficient as a first lateral distance, acquire a second intercept coefficient of second fitting information during lane change of a vehicle, and take the second intercept coefficient as a second lateral distance. On the basis, whether the difference value between the first intercept coefficient and the second intercept coefficient is smaller than a preset difference value is determined, and if the difference value between the first intercept coefficient and the second intercept coefficient is smaller than the preset difference value, the lane change operation is determined to be successful.

Acquiring a first intercept coefficient of first fitting information corresponding to a first target lane line before lane change and acquiring a second intercept coefficient of second fitting information corresponding to a second target lane line in the lane change process. And then, acquiring a difference value between the first intercept coefficient and the second intercept coefficient, and determining that the lane change is successful when the difference value is smaller than a preset difference value.

As an example, when a vehicle changes lanes to the left, the embodiments of the present disclosure may acquire first fitting information of a right lane line (a first target lane line) of a lane in which a vehicle before changing lanes is located, and acquire second fitting information of a right lane line (a second target lane line) of a lane in which a vehicle after changing lanes is located. On the basis, the difference value between the intercept of the two fitting information is obtained, and when the difference value is smaller than a preset difference value, the success of lane changing of the vehicle is determined.

Alternatively, when the vehicle changes lanes to the right, the embodiments of the present disclosure may acquire first fitting information of a left lane line (a first target lane line) of a lane where the vehicle before changing lanes, and acquire second fitting information of a left lane line (a second target lane line) of a lane where the vehicle after changing lanes. On the basis, the difference value between the intercept of the two fitting information is obtained, and when the difference value is smaller than a preset difference value, the success of lane changing of the vehicle is determined.

For example, in the process of performing lane change success determination, embodiments of the present disclosure may determine the C0 value of the lane line on the right (or left) and the vehicle from which the lane line on the right (or left) is farther and farther before lane change success, so the C0 value is larger and larger. Because the vehicle is pressed against the second target lane line in the lane change process, the vehicle is closer to the right (or left) lane line after the lane change is successful, i.e. the value of the C0 of the right (or left) lane line suddenly becomes smaller, so that the difference between the C0 before the lane change and in the lane change process can be used for judging whether the lane change is successful. Since the y1 value corresponds to the first intercept coefficient C0 ₁ between the first target lane lines and is equal to the first lateral distance, and the y2 value corresponds to the second intercept coefficient C0 ₂ between the second target lane lines and is equal to the second lateral distance when x1 or x2 takes 0, the C0 value of the lane line can be directly used as the distance between the vehicle and the lane line, and when the difference is within a certain range, the lateral position of the vehicle in the target lane before lane change is approximately equivalent to the lateral position of the vehicle in the recommended lane after lane change, namely the lane change is indicated to be successful. Here, the preset difference may be 1m.

In order to better illustrate the process of the lane-level navigation control, the embodiment of the disclosure presents a schematic diagram as shown in fig. 8, and based on fig. 8, it is known that after the lane identification data (lane information) and the navigation lane information data (driving situation information) are acquired, the embodiment of the disclosure can integrate the data and process the data, and perform left-turn or right-turn navigation according to the actual situation, and then perform lane change success judgment. The integrated data and the processing data are used for obtaining lane line fitting information, generating action guide information and the like in a fitting mode.

When the vehicle is detected to need to turn left (or turn right) during running, the vehicle can be moved to a left (or right) lane, and the left (or right) lane line is ensured to be a broken line during the running, so that lane-level navigation can be triggered. If the left (or right) lane line is a solid line, indicating that lane change is prohibited, it is necessary to wait for a lane change at an appropriate timing in a safe situation.

The embodiment of the disclosure can realize lane-level navigation without high-precision data such as a Global Positioning System (GPS), map data, radar, a sensor and the like, cancel dependence on the high-precision data, reduce the requirement on hardware and reduce the cost of lane-level navigation control. In addition, by collecting road traffic information in real time, the route planning of lane navigation can be updated to assist the driver in selecting the optimal driving route.

Fig. 9 is a block diagram illustrating a lane-level navigation control apparatus of a vehicle according to an exemplary embodiment. Referring to fig. 9, the vehicle-based lane-level navigation control apparatus 300 may include an acquisition module 310, a determination module 320, and an output module 330.

The acquiring module 310 is configured to acquire lane line information of a lane where the vehicle is located, and acquire driving condition information of each lane on a driving path of the vehicle, where the driving condition information includes driving direction information of each lane;

The determining module 320 is configured to determine action guide information of the vehicle according to the lane line information and the driving situation information, wherein the action guide information comprises driving route information;

the output module 330 is configured to output the action guide information when the lane line information satisfies a specified condition.

In some implementations, the determination module 320 can include:

The steering information acquisition sub-module is configured to determine that an intersection to be turned exists in front of the vehicle in running based on the running condition information, and acquire steering information of the vehicle at the intersection to be turned when the vehicle is determined to have a lane changing requirement;

and a guide information generation sub-module configured to determine a recommended lane matching the steering information and generate the action guide information based on the lane line information and the recommended lane.

In some embodiments, the lane line information includes first fitting information of a first target lane line, which is one of two side lane lines of the target lane far from the recommended lane, and second fitting information of a second target lane line, which is one of two side lane lines of the target lane near the recommended lane, the obtaining module 310 is further configured to obtain sampling coordinate information of a plurality of sampling points between starting points and ending points of the first and second target lane lines, respectively, and determine the first fitting information and the second fitting information, respectively, according to the obtained sampling coordinate information.

In some embodiments, the guidance information generation sub-module is further configured to determine first coordinate information of a first position, which is a position within the target lane that is located at a first specified distance in front of the vehicle, based on the first fitting information and the second fitting information, acquire third fitting information of a third target lane line, which is one of the two side lane lines of the recommended lane that is far from the target lane, based on the second fitting information and the third fitting information, determine second coordinate information of a second position, which is a position within the recommended lane that is located at a second specified distance in front of the vehicle, and third coordinate information of a third position, which is a position within the recommended lane that is located at a third specified distance in front of the vehicle, the second specified distance being different from the third specified distance, and generate the curve-fitted movement information of the vehicle based on the first coordinate information, the second coordinate information and the third coordinate information.

In some embodiments, the first fitting information and the second fitting information are acquired based on a vehicle coordinate system of the vehicle, and the lane-level navigation control apparatus 300 of the vehicle may further include:

The lane change judging module is used for responding to the first transverse distance between the lane change of the vehicle and the first target lane in the process of executing the lane change operation based on the action guide information, acquiring the second transverse distance between the lane change of the vehicle and the second target lane, and judging whether the lane change operation is successful or not according to the difference value between the first transverse distance and the second transverse distance.

In some embodiments, the lane-change judging module is further configured to obtain a first intercept coefficient of the first fitting information before lane-change, take the first intercept coefficient as the first lateral distance, obtain a second intercept coefficient of the second fitting information during lane-change of the vehicle, take the second intercept coefficient as the second lateral distance, and determine that the lane-change operation is successful when a difference between the first intercept coefficient and the second intercept coefficient is smaller than a preset difference.

In some embodiments, the guidance information generation sub-module is further configured to take a left-turn lane as the recommended lane when the vehicle has a left-turn demand based on the steering information, or take a right-turn lane as the recommended lane when the vehicle has a right-turn demand based on the steering information.

In some embodiments, the determining module 320 is further configured to determine, when no special lane exists on the vehicle driving road, action guide information of the vehicle according to the lane line information and the driving condition information, where the special lane is an irregular turning lane, and/or obtain, when it is determined that the special lane exists on the vehicle driving road, the turning guide information matched with the special lane, and output the turning guide information.

The specific manner in which the various modules perform the operations in the apparatus of the above embodiments have been described in detail in connection with the embodiments of the method, and will not be described in detail herein.

Fig. 10 is a block diagram of a terminal 700, where the terminal 700 may be an electronic device or a vehicle, according to an example embodiment. As shown in fig. 10, the terminal 700 may include a processor 701, a memory 702. The terminal 700 can also include one or more of a multimedia component 703, an input/output (I/O) interface 704, and a communication component 705.

The processor 701 is configured to control the overall operation of the terminal 700 to perform all or part of the steps in the lane-level navigation control method of the vehicle. The memory 702 is used to store various types of data to support operation at the terminal 700, which may include, for example, instructions for any application or method operating on the terminal 700, as well as application-related data, such as contact data, messages, pictures, audio, video, and the like. The Memory 702 may be implemented by any type or combination of volatile or non-volatile Memory devices, such as static random access Memory (Static Random Access Memory, SRAM for short), electrically erasable programmable Read-Only Memory (ELECTRICALLY ERASABLE PROGRAMMABLE READ-Only Memory, EEPROM for short), erasable programmable Read-Only Memory (Erasable Programmable Read-Only Memory, EPROM for short), programmable Read-Only Memory (Programmable Read-Only Memory, PROM for short), read-Only Memory (ROM for short), magnetic Memory, flash Memory, magnetic disk, or optical disk. The multimedia component 703 can include a screen and an audio component. Wherein the screen may be, for example, a touch screen, the audio component being for outputting and/or inputting audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signals may be further stored in the memory 702 or transmitted through the communication component 705. The audio assembly further comprises at least one speaker for outputting audio signals. The I/O interface 704 provides an interface between the processor 701 and other interface modules, which may be a keyboard, mouse, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 705 is used for wired or wireless communication between the terminal 700 and other devices. Wireless Communication, such as Wi-Fi, bluetooth, near Field Communication (NFC), 2G, 3G or 4G, or a combination of one or more thereof, so the corresponding Communication component 705 may comprise a Wi-Fi module, a bluetooth module, an NFC module.

In an exemplary embodiment, the terminal 700 may be implemented by one or more Application-specific integrated circuits (ASIC), digital signal Processor (DIGITAL SIGNAL Processor, DSP), digital signal processing device (DIGITAL SIGNAL Processing Device, DSPD), programmable logic device (Programmable Logic Device, PLD), field programmable gate array (Field Programmable GATE ARRAY, FPGA), controller, microcontroller, microprocessor, or other electronic component for performing the lane-level navigation control method of the vehicle described above.

In another exemplary embodiment, a computer readable storage medium is also provided that includes program instructions that, when executed by a processor, implement the steps of the lane-level navigation control method of a vehicle described above. For example, the computer readable storage medium may be the memory 702 including program instructions described above, which are executable by the processor 701 of the terminal 700 to perform the lane-level navigation control method of the vehicle described above.

In another exemplary embodiment, a computer program product is also provided, which comprises a computer program executable by a processor, which computer program, when executed by the processor, implements the steps of the lane-level navigation control method of a vehicle described above.

The preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings, but the present disclosure is not limited to the specific details of the embodiments described above, and various simple modifications may be made to the technical solutions of the present disclosure within the scope of the technical concept of the present disclosure, and all the simple modifications belong to the protection scope of the present disclosure.

In addition, the specific features described in the foregoing embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, the present disclosure does not further describe various possible combinations.

Moreover, any combination between the various embodiments of the present disclosure is possible as long as it does not depart from the spirit of the present disclosure, which should also be construed as the disclosure of the present disclosure.

Claims

1. A lane-level navigation control method of a vehicle, the method comprising:

the method comprises the steps of obtaining lane line information of a target lane where a vehicle is located, and obtaining driving condition information of each lane on a vehicle driving road, wherein the driving condition information comprises driving direction information of each lane;

2. The lane-level navigation control method of a vehicle according to claim 1, wherein said determining motion guide information of the vehicle based on the lane line information and the traveling condition information includes:

3. The lane-level navigation control method of a vehicle according to claim 2, wherein the lane line information includes first fitting information of a first target lane line, which is one of both side lane lines of the target lane which is far from the recommended lane, and second fitting information of a second target lane line, which is one of both side lane lines of the target lane which is adjacent to the recommended lane;

4. The lane-level navigation control method of a vehicle according to claim 3, wherein said generating the behavior guide information based on the lane line information and the recommended lane comprises:

5. The lane-level navigation control method of a vehicle according to claim 3, wherein said method further comprises:

6. The method according to claim 5, wherein the first fitting information and the second fitting information are obtained based on an own vehicle coordinate system of the vehicle, the obtaining a first lateral distance between the vehicle and the first target lane before lane change, and the obtaining a second lateral distance between the vehicle and the first target lane during lane change, comprises:

7. The lane-level navigation control method of a vehicle according to claim 2, wherein said determining a recommended lane that matches the steering information includes:

8. The lane-level navigation control method of a vehicle according to claim 1, wherein said determining motion guide information of the vehicle based on the lane line information and the traveling condition information includes:

9. A lane-level navigation control apparatus of a vehicle, the apparatus comprising:

the acquisition module is configured to acquire lane line information of a target lane where the vehicle is located and acquire the driving condition of each lane on a vehicle driving road;

10. A terminal, comprising:

a memory having a computer program stored thereon;

A processor for executing the computer program in the memory to implement the steps of the method of any one of claims 1-8.