CN114136326B

CN114136326B - Method and system for synchronizing horizons state and navigation state

Info

Publication number: CN114136326B
Application number: CN202111191005.3A
Authority: CN
Inventors: 王军德; 方月; 黄翔; 范黎明
Original assignee: Wuhan Kotei Informatics Co Ltd
Current assignee: Wuhan Kotei Informatics Co Ltd
Priority date: 2021-10-13
Filing date: 2021-10-13
Publication date: 2023-06-27
Anticipated expiration: 2041-10-13
Also published as: CN114136326A

Abstract

The embodiment of the invention provides a method and a system for synchronizing a horizons state and a navigation state, wherein the method comprises the following steps: acquiring navigation state information, wherein the navigation state information comprises at least one of whether a vehicle position is matched on a road, whether road calculation or road recalculation is performed and whether yaw occurs in a non-destination state; and correcting the horizons state according to the navigation state information. According to the embodiment of the invention, whether the state is consistent with the navigation state is confirmed through the reverse direction of the horizons according to the state between synchronous navigation and the horizons, the horizons state is corrected according to the navigation state, the probability of occurrence of blind areas of the horizons system is reduced, and the robustness, the efficiency and the correctness of high-precision map matching and auxiliary driving functions are improved.

Description

Method and system for synchronizing horizons state and navigation state

Technical Field

The invention relates to the field of automatic driving, in particular to a method and a system for synchronizing a horizons state and a navigation state.

Background

Horizons is a technical scheme for transmitting map data around an automobile and real-time navigation information to other functional modules in the automobile through an ADAIS open interface standard so as to realize an auxiliary driving function and an automatic driving function. The horizons provide static map data such as road topological relation, curvature, speed limit information, road grade, intersection and the like and dynamic navigation data such as vehicle position, planning path, yaw information and the like for other functional modules in the automobile through a CAN bus on the automobile, so that advanced auxiliary driving or automatic driving functions are supported. The underlying ADAIS V2 protocol framework determines that horizons can provide static map data around the vehicle and dynamic data of the driving state and the road calculation state of the vehicle. Here, we will refer to the dynamic driving state of the host vehicle and the road calculation state as navigation states. In the ADASIS development interface standard, a dynamic navigation state is a basis for generating static map data, so how to synchronize the state and the navigation state of horizons becomes a necessary condition for correctly and effectively sending out horizons data. Static map data in horizons refers to road network data within a certain range around the vehicle body, and ADASIS V2 is expressed by mapping road networks into a single path. Dynamic information in horizons is expressed by Position information and other update attributes in ADASIS Message.

The existing framework for AD 2-level automatic driving is to provide Link-level information in a standard navigation electronic map by utilizing ADAIS V2, and then match the Link-level map information with a high-precision map, so that high-precision Lane-level information is obtained to assist an automatic driving function. The background of the logic is based on two current situations of the existing map used in automatic driving, namely, the automatic driving must use a high-precision map with higher precision and more data types, and the high-precision map data has a sharp increase in the data quantity of the high-precision map due to the improvement of the precision of the map and the expansion of the collected data types. On the contrary, the existing vehicle-mounted system cannot obtain the track from the starting point to the end point directly through the high-precision map due to limited hardware and transmission resources; secondly, at the current stage, a driver still cannot get rid of the dependence on the traditional navigation, and because the acquisition standard of the high-precision map is not compatible with the acquisition standard of the standard map, the high-precision vehicle line and the standard precision link do not realize the link of the mass production level, so that a period of time is still required from the high-precision map supporting road planning to mass manufacturers. The horizons based on the standard map by adopting the ADAIS V2 have two advantages at the current stage, namely, the auxiliary driving function based on the map does not need high-precision data, and the ADAIS V2 architecture is naturally supported; and secondly, link level information of a standard map is provided through ADAIS V2, then link level data is matched with a high-precision map, and a technical route which is not opened is formed by acquiring the high-precision map data to support an automatic driving function.

In such a background, the transmission range of horizons information becomes critical to the overall map sensor efficiency. Under the condition that dynamic navigation information is used for constructing a horizons foundation, how to ensure consistency of a navigation state and the horizons state is one of the problems which are inevitably solved by automatic driving landing. At present, two main solutions exist, namely, horizons only output one level of data (Most Probable Path, hereinafter referred to as MPP), and the disadvantage of the direction is that when the vehicle deviates from the original route, that is, when the navigation is in a yaw state, the horizons state is reset, so that the whole standard map and high-precision map matching process must be repeated, and therefore, the efficiency is low when the vehicle deviates from the route; secondly, providing sub path information, when a path is deviated, the horizons side only updates MPP and sub path information, but keeps a path architecture before the path is deviated, namely, the new navigation state is synchronized to horizons, the existing horizons state is updated, the standard map and the high-precision map matching algorithm only need to be updated relatively without the need of re-head, the efficiency is better than that of the first scheme, but the disadvantage is that the state synchronization brings complexity in horizons processing, and in addition, the scheme is hidden from the fear that when the navigation state is inconsistent with the horizons state, the data sent by horizons are incorrect.

At present, when the horizons state is changed due to the change of the navigation state, firstly, the horizons are reconstructed in a common solution, so that the navigation state and the horizons state are rigidly bound together, and the disadvantage of the scheme is that once a vehicle deviates from a road, blind areas are caused, and both the high-precision map matching and the auxiliary driving functions have to wait for new horizons to build and resend new data. The second scheme is that navigation states are only one-way shared to the horizons, and the scheme reduces the probability of blind area generation and improves the efficiency of high-precision map matching and driving assisting functions, but lacks checking whether the horizons reversely confirm consistency with the navigation states, so that the situation that the horizons states are inconsistent with the navigation states can be generated, and the accuracy and the robustness of the high-precision map matching and driving assisting functions are reduced.

Disclosure of Invention

In order to solve the above problems, embodiments of the present invention provide a method and a system for synchronizing horizons states and navigation states, which overcome or at least partially solve the above problems.

According to a first aspect of an embodiment of the present invention, there is provided a method for synchronizing a horizons state with a navigation state, the method comprising: acquiring navigation state information, wherein the navigation state information comprises at least one of whether a vehicle position is matched on a road, whether road calculation or road recalculation is performed and whether yaw occurs in a non-destination state; and correcting the horizons state according to the navigation state information.

Preferably, correcting the horizons state according to the navigation state information includes: judging whether the state of the vehicle position is in an off road state according to whether the vehicle position is matched on a road or not; if the vehicle is in the off road state, further judging whether the off road phenomenon occurs continuously or not; if yes, correcting the horizons state to be an off-read state, and setting path index sent by the horizons as invalid message; if not, the path index of the position information in horizons is set to invalid.

Preferably, after determining whether the state of the own vehicle position is in the off road state, the method further includes: if the state is not in the off road state, judging whether the current state of the horizons is consistent with the navigation state; if the state is not consistent, the horizons state is corrected to the off road state.

Preferably, after determining whether the current state of horizons is consistent with the navigation state, the method further comprises: if the two paths are consistent, judging whether the horizons are in one of an off road state, a road recalculation state or an offset path state; if the horizons are judged to be in the off road state, reconstructing the data of the whole horizons according to the current vehicle position and the map data around the position; if the horizons are judged to be in the road recalculation state or the offset path state, updating the horizons data of the map part repeated before the state change according to the current vehicle position and the map data around the position.

Preferably, after determining whether horizons are in one of an off road state, a road recalculation state, or an offset path state, the method further comprises: if the navigation is not confirmed to be in, judging whether the navigation transmits road calculation or road recalculation time to horizons; if so, the horizons state is changed to the road recalculation state.

Preferably, determining whether the navigation transmits the road calculation or the road recalculation time to horizons further includes: if the navigation is in the non-destination state, the horizons judge whether the current vehicle position continuously deviates to the sub path; if yes, the horizons state is changed to a road offset state.

Preferably, the horizons determine whether the current vehicle position continuously shifts to the sub path, and further include: if not, the transmitting range of horizons is extended according to the own vehicle position of the current on road and the surrounding map data.

According to a second aspect of an embodiment of the present invention, there is provided a system for synchronizing a horizons state with a navigation state, the system comprising: the navigation system comprises an acquisition module, a navigation module and a navigation module, wherein the acquisition module is used for acquiring navigation state information, and the navigation state information comprises at least one of whether a vehicle position is matched on a road, whether road calculation or road recalculation is carried out and whether yaw occurs in a non-destination state; and the correction module is used for correcting the horizons state according to the navigation state information.

According to a third aspect of embodiments of the present invention, there is provided an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing a method of synchronizing a horizons state with a navigation state as provided by any of the various possible implementations of the first aspect when the program is executed.

According to a fourth aspect of embodiments of the present invention, there is provided a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method of synchronizing horizons states with navigation states as provided by any of the various possible implementations of the first aspect.

According to the method and the system for synchronizing the horizons state and the navigation state, whether the horizons state is consistent with the navigation state is confirmed through the horizons reverse direction according to the state between synchronous navigation and horizons, the horizons state is corrected according to the navigation state, probability of occurrence of blind areas of the horizons system is reduced, robustness, efficiency and correctness of high-precision map matching and driving assisting functions are improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is apparent that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art.

FIG. 1 is a flow chart of a method for synchronizing a horizons state and a navigation state according to an embodiment of the present invention;

FIG. 2 is a flowchart of a method for synchronizing a horizons state and a navigation state according to another embodiment of the present invention;

FIG. 3 is a schematic diagram of a system for synchronizing a horizons state and a navigation state according to an embodiment of the present invention;

fig. 4 is a schematic diagram of an entity structure of an electronic device according to an embodiment of the present invention.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Aiming at the problems in the prior art, the embodiment of the invention provides a method for synchronizing the horizons state and the navigation state, which reconstructs, expands or updates data to be sent by horizons according to different horizons states and road network attributes around the vehicle and the position under the strategy of synchronizing the states between the navigation and the horizons reverse confirmation of whether the states are consistent; and by supporting the function of confirming the consistency of the horizons state and the navigation state in the horizons reverse direction, the robustness and the correctness of the high-precision map matching and driving assisting functions are improved under the condition of losing part of efficiency. Referring to fig. 1, the method includes, but is not limited to, the steps of:

step 101, obtaining navigation state information, wherein the navigation state information comprises at least one of whether a vehicle position is matched on a road, whether road calculation or road recalculation is performed, and whether yaw occurs in a non-destination state.

And 102, correcting the horizons state according to the navigation state information.

Specifically, when the horizons can support the sub path frame, the horizons are corrected according to the state change of the navigation (the state change can include whether the vehicle position is matched with the road, whether the navigation is performed with road recalculation or not, and the like), and the horizons are synchronized, so that the consistency of the horizons and the navigation state is ensured, and once the horizons and the navigation state are inconsistent, the horizons and the navigation state are forcedly kept consistent through reconstructing the horizons, so that the correctness and the effectiveness of the road network information output by the horizons are ensured.

The navigation state comprises whether the vehicle position is matched with a road, whether the navigation is performed by road calculation or road recalculation, and whether yaw occurs in a destination-free state. The corresponding horizons express the vehicle Position map matching result through the Path index information of the Position, for example, path index=3 indicates off road (vehicle Position is not matched to road) and 8< = Path index < = 63 indicates on road (vehicle Position is matched to road); horizons correspond to whether navigation is road calculation or road recalculation by means of the Part of Calculated Route and update attributes in the Stub, segment data.

Based on the content of the foregoing embodiment, as an optional embodiment, correcting the horizons state according to the navigation state information includes:

and judging whether the state of the vehicle position is in an off road state according to whether the vehicle position is matched on a road. Specifically, referring to fig. 2, the state of the vehicle position is determined according to whether the vehicle position in navigation can be matched with the map road network. If the position of the vehicle can be matched into the map road network, map the map road network information around the vehicle to the path structure of horizons according to the position matched into the map road network, and send the map road network information to the clients of horizons.

If the vehicle is in the off road state, further judging whether the off road phenomenon occurs continuously or not; if yes, correcting the horizons state to be an off-read state, and setting path index sent by the horizons as invalid message; if not, the path index of the position information in horizons is set to invalid. In addition, other data can be set to be normal.

If the vehicle position cannot be matched with the map road network, namely the off road state, the horizons also enter the off road state after the state is continuous for a certain time.

Based on the foregoing embodiment, as an alternative embodiment, after determining whether the state of the vehicle position is in the off road state, the method further includes:

if the state is not in the off road state, judging whether the current state of the horizons is consistent with the navigation state. Specifically, when the vehicle is not in the off-road state, that is, when the vehicle is in the on-road state, it is determined whether the current state of horizons coincides with the navigation state.

If the state is not consistent, the horizons state is corrected to the off road state. Specifically, the horizons state may be forced to change to an off road state. The off-road state of horizons means that the Path index of all data of horizons is an invalid value, and after the vehicle position of the on-road exists, the horizons are reconstructed, and effective road network information of the periphery of the vehicle body is sent.

Based on the foregoing embodiment, as an optional embodiment, after determining whether the current state of horizons is consistent with the navigation state, the method further includes:

if the two paths are consistent, judging whether the horizons are in one of an off road state, a road recalculation state or an offset path state;

if the horizons are judged to be in the off road state, reconstructing the data of the whole horizons according to the current vehicle position and the map data around the position;

if the horizons are judged to be in the road recalculation state or the offset path state, updating horizons data of the map part repeated before the state change according to the current vehicle position and map data around the position.

Based on the foregoing embodiment, as an alternative embodiment, after determining whether horizons are in one of an off road state, a road recalculation state, or an offset path state, the method further includes:

if the navigation is not confirmed to be in, judging whether the navigation transmits road calculation or road recalculation time to horizons;

if so, the horizons state is changed to the road recalculation state. Specifically, after the horizons acquire the event information of navigation road calculation or road recalculation, the horizons enter a road recalculation state, and update Part of Calculated Route and update attributes of the repeated parts of the road network at the previous horizons and the next horizons according to the vehicle position and the surrounding road network information after the event is ended.

Based on the content of the above embodiment, as an optional embodiment, determining whether the navigation sends the road calculation or the road recalculation time to horizons further includes:

if the navigation is in the non-destination state, the horizons judge whether the current vehicle position continuously deviates to the sub path;

if yes, the horizons state is changed to a road offset state.

Specifically, when the navigation is in a non-destination state and the vehicle is continuously matched to the sub path, horizons judge that the vehicle is in an offset road state, and update horizons data of repeated parts of the road network before and after the state change according to the vehicle position and surrounding road network data after entering the offset road state, thereby changing the trend of the MPP.

Based on the foregoing embodiment, as an optional embodiment, horizons determines whether the current vehicle location continuously deviates to the sub path, and further includes:

if not, the transmitting range of horizons is extended according to the own vehicle position of the current on road and the surrounding map data.

According to the method for synchronizing the horizons state and the navigation state, whether the horizons state is consistent with the navigation state is confirmed through the horizons reverse direction according to the state between synchronous navigation and the horizons, the horizons state is corrected according to the navigation state, probability of occurrence of blind areas of the horizons system is reduced, robustness of high-precision map matching and auxiliary driving functions is improved, and efficiency and accuracy are improved.

Based on the foregoing embodiments, the embodiments of the present invention provide a system for synchronizing a horizons state and a navigation state, where the system for synchronizing a horizons state and a navigation state is used to execute the method for synchronizing a horizons state and a navigation state in the foregoing method embodiments. Referring to fig. 3, the system includes: an obtaining module 301, configured to obtain navigation status information, where the navigation status information includes at least one of whether a vehicle is matched on a road, whether a road calculation or a road recalculation is performed, and whether yaw occurs in a non-destination state; and the correction module 302 is configured to correct the horizons state according to the navigation state information.

An embodiment of the present invention provides an electronic device, as shown in fig. 4, including: a processor (processor) 501, a communication interface (Communications Interface) 502, a memory (memory) 503 and a communication bus 504, wherein the processor 501, the communication interface 502, and the memory 503 communicate with each other via the communication bus 504. The processor 501 may call a computer program on the memory 503 and executable on the processor 501 to perform the method for synchronizing horizons states and navigation states provided in the above embodiments, for example, including: acquiring navigation state information, wherein the navigation state information comprises at least one of whether a vehicle position is matched on a road, whether road calculation or road recalculation is performed and whether yaw occurs in a non-destination state; and correcting the horizons state according to the navigation state information.

Embodiments of the present invention also provide a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the method for synchronizing a horizons state and a navigation state provided in the above embodiments, for example, including: acquiring navigation state information, wherein the navigation state information comprises at least one of whether a vehicle position is matched on a road, whether road calculation or road recalculation is performed and whether yaw occurs in a non-destination state; and correcting the horizons state according to the navigation state information.

In the foregoing embodiments, the descriptions of the embodiments are focused on, and for those portions of one embodiment that are not described in detail, reference may be made to the related descriptions of other embodiments.

It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (methods), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention.

It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.

Claims

1. A method of synchronizing horizons states with navigational states, comprising:

acquiring navigation state information, wherein the navigation state information comprises at least one of whether a vehicle position is matched on a road, whether road calculation or road recalculation is performed and whether yaw occurs in a non-destination state; correcting the horizons state according to the navigation state information;

correcting the horizons state according to the navigation state information, including:

judging whether the state of the vehicle position is in an off road state according to whether the vehicle position is matched on a road or not; if the vehicle is in the off road state, further judging whether the off road phenomenon occurs continuously or not; if yes, correcting the horizons state to be an off-read state, and setting path index sent by the horizons as invalid message; if not, setting the path index of the position information in the horizons as invalid;

after determining whether the state of the vehicle position is in the off road state, the method further includes:

if the state is not in the off road state, judging whether the current state of the horizons is consistent with the navigation state; if the state is inconsistent, correcting the horizons state to be an off road state;

after judging whether the current state of horizons is consistent with the navigation state, the method further comprises:

2. The method of claim 1, wherein after determining whether horizons are in one of an off road state, a road recalculation state, or an offset path state, the method further comprises:

if the navigation is not confirmed to be in, judging whether the navigation transmits road calculation or road recalculation time to horizons; if so, the horizons state is changed to the road recalculation state.

3. The method of claim 2, wherein determining whether the navigation sends a link calculation or a link recalculation time to horizons further comprises:

if yes, the horizons state is changed to a road offset state.

4. The method of claim 3, wherein horizons determines whether the current vehicle position is continuously offset onto the sub path, further comprising:

5. A system for synchronizing horizons states with navigational states, comprising:

the navigation system comprises an acquisition module, a navigation module and a navigation module, wherein the acquisition module is used for acquiring navigation state information, and the navigation state information comprises at least one of whether a vehicle position is matched on a road, whether road calculation or road recalculation is carried out and whether yaw occurs in a non-destination state;

the correction module is used for correcting the horizons state according to the navigation state information;

after judging whether the state of the vehicle position is in the off road state, the method further comprises the following steps:

after judging whether the current state of horizons is consistent with the navigation state, the method further comprises the following steps:

6. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the method of synchronizing horizons states with navigation states according to any of claims 1 to 4 when the program is executed by the processor.

7. A non-transitory computer readable storage medium having stored thereon a computer program, which when executed by a processor, implements the steps of the method of synchronizing horizons state and navigation state according to any of claims 1 to 4.