CN115597612A - Navigation method, navigation device, automobile and computer readable storage medium - Google Patents

Abstract

The invention belongs to the technical field of automobile navigation, and particularly relates to a navigation method, a navigation device, an automobile and a computer readable storage medium. The navigation method comprises the following steps: acquiring road information and vehicle information, wherein the road information comprises curvature information, road width information and road length information, and the vehicle information comprises vehicle size information and vehicle position information; when the road information corresponds to a narrow curve state, generating auxiliary curve passing information according to the road information and the vehicle information, wherein the auxiliary curve passing information comprises at least one of guiding information and driving reminding information; and displaying the auxiliary curve passing information to assist the vehicle to pass through the narrow curve. Therefore, when the vehicle faces a narrow curve, the method and the device can assist the vehicle to pass through the narrow curve, save the time of a user, improve the user experience and ensure the driving safety.

Description

Navigation method, navigation device, automobile and computer readable storage medium

technical field

The invention belongs to the technical field of car navigation, and in particular relates to a navigation method, a navigation device, a car and a computer-readable storage medium.

Background technique

The existing navigation technology can realize the AR navigation function through the display area such as the front camera and the instrument/HUD. When approaching a narrow road, it notifies the user to pay attention to information such as road narrowing, and provides surrounding radar data or surround view images at low speeds to assist users in judging the distance between vehicles.

However, in daily life, although roads are becoming more and more popular, there are still some relatively narrow roads, such as narrow bridges, alleys, mountain roads, parking lots and so on. Particularly common are between two buses, between two large trucks, corners in parking lots, etc. When the user encounters these narrow road conditions, the navigation system has no measures to assist the user to drive safely and efficiently. Therefore, especially for novice drivers, or drivers who do not know the size of the car, in the face of this situation, they do not know whether the vehicle can pass through the road surface, and how to drive the vehicle through the narrow curve. How to help users pass through narrow curves is a technical problem to be solved urgently.

For the above problems, those skilled in the art have been seeking solutions.

The foregoing description is provided to provide general background information and does not necessarily constitute prior art.

Contents of the invention

The technical problem to be solved by the present invention is to provide a navigation method, a navigation device, a car and a computer-readable storage medium, which can assist the vehicle to pass through the narrow curve when the vehicle is facing a narrow curve, save user time, and improve User experience to ensure driving safety. Especially for novice drivers or drivers who do not know the size of the vehicle, there is a way to deal with narrow curves, which solves the pain point of drivers not knowing how to pass narrow curves.

The present invention solves its technical problem and adopts following technical scheme to realize:

The present invention provides a navigation method, comprising the following steps: acquiring road information and vehicle information, where the road information includes curvature information, road width information, and road length information, and the vehicle information includes vehicle size information and vehicle position information; when the road information corresponds to When in a narrow curve state, generate auxiliary cornering information based on road information and vehicle information. The auxiliary cornering information includes at least one of guidance information and driving reminder information; display auxiliary cornering information to assist the vehicle to pass through the narrow curve .

The present invention also provides a navigation device, including a processor and a memory: the processor is used to execute the computer program stored in the memory, so as to realize the navigation method steps as described above.

The present invention also provides a car, including the aforementioned navigation device.

The present invention also provides a computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, the steps of the aforementioned navigation method are realized.

The invention also provides a navigation method, a navigation device, a vehicle and a computer-readable storage medium. Wherein, the navigation method includes the following steps: obtaining road information and vehicle information, where the road information includes curvature information, road width information, and road length information, and the vehicle information includes vehicle size information and vehicle position information; when the road information corresponds to a narrow curve state , generate auxiliary cornering information according to road information and vehicle information, where the auxiliary cornering information includes at least one item of guidance information and driving reminder information; display the auxiliary cornering information to assist the vehicle to pass through the narrow curve. Therefore, the present invention can assist the vehicle to pass through the narrow curve when the vehicle is facing a narrow curve, save user time, improve user experience, and ensure driving safety. In addition, further, the navigation method provided by an embodiment of the present invention can also judge whether the vehicle can pass through the narrow curve before driving to the curve, so as to re-plan the navigation route when the vehicle cannot pass, and avoid the vehicle driving The problem of not being able to pass through the corner appeared. And when the auxiliary cornering information is displayed when cornering, by displaying the ideal cornering path information, supplemented by displaying driving reminder information, the user can more intuitively understand how to pass the narrow corner, reducing the difficulty of operation. And it will be adjusted in real time, and the display content will be corrected at any time, so as to maximize the user's ease of cornering. In addition, if the vehicle has an automatic driving function, it can also cooperate with the automatic driving function to control the vehicle to automatically corner, which reduces the user's operation, reduces the occurrence of accidents, increases the user's convenience, improves the user's experience, and increases the driving experience. Safety.

The above description is only an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention, it can be implemented according to the contents of the description, and in order to make the above and other purposes, features and advantages of the present invention more obvious and understandable , the following preferred embodiments will be described in detail in conjunction with the accompanying drawings.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are some embodiments of the present invention. For those skilled in the art, other drawings can also be obtained according to these drawings without any creative effort.

FIG. 1 is a schematic flowchart of a navigation method provided by a first embodiment of the present invention;

Fig. 2 is a schematic diagram of the display effect of displaying auxiliary cornering information provided by the first embodiment of the present invention;

FIG. 3 is a schematic flowchart of a navigation method provided by a second embodiment of the present invention;

Fig. 4 is a first structural schematic diagram of a navigation device provided by a third embodiment of the present invention;

FIG. 5 is a schematic diagram of a second structure of a navigation device provided by a third embodiment of the present invention.

detailed description

In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the described embodiments are only some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

Embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

first embodiment

FIG. 1 is a schematic flowchart of a navigation method provided by the first embodiment of the present invention; FIG. 2 is a schematic diagram of a display effect of displaying auxiliary cornering information provided by the first embodiment of the present invention. In order to clearly describe the navigation method provided by the first embodiment of the present invention, please refer to FIG. 1 and FIG. 2 .

In real life, there are actually some narrow roads, especially for novice drivers, there is no good way to pass these relatively narrow roads, such as narrow bridges, alleys, mountain roads, parking lots, etc. If it is a narrow curve, the driver is even more at a loss and has no way to start. In order to assist the driver to pass through the narrow curve, the present invention proposes a navigation method, which includes the following steps:

Step S1: Obtain road information and vehicle information. Road information includes curvature information, road width information, and road length information. Vehicle information includes vehicle size information and vehicle location information.

In an embodiment, the acquisition of road information may include but not limited to, for example, acquisition through a high-precision map or a camera device. Among them, the high-precision map is mainly aimed at inherent road conditions, such as narrow bridges, alleys, and rural roads that exist in itself; while the camera is aimed at more flexible, non-fixed narrow roads, such as expressways. The narrow lane between the two large vehicles on the road or the scenic road with many people, etc. These are the narrow road conditions caused by external factors. Through the cooperation of high-precision maps and cameras, road information can be obtained together. Further, cameras are not limited to vehicle cameras, and can also be other camera devices that have a communication connection with the vehicle. The side camera device, or the camera device in other vehicles captures road information and transmits it to the execution terminal of the present invention. In another embodiment, for the above-mentioned situations such as scenic roads with many people, the road conditions change greatly in this case, and generally speaking, high-precision maps cannot be collected, so it is preferable to use camera The device captures road information, and obtains data related to the road information by performing image recognition on the image information captured by the camera device. In other embodiments, it can be understood that the road information is mostly distance-related information. Therefore, in order to ensure the accuracy of road information acquisition, it can also be obtained by a radar device. The specific type of radar device can include but is not limited to Laser radar, infrared radar, ultrasonic radar, etc. Since the present invention is aimed at narrow curves, and it can be understood that there are often blind spots for vehicles in curves, therefore, in another possible implementation, for the acquisition of road information, it is also possible to With the help of a network platform, such as the cloud Internet, or a local area network formed with other vehicles in the curve, relatively complete road information can be achieved. In addition, methods for obtaining vehicle information may include, but are not limited to, methods such as obtaining through the vehicle CAN bus, and the obtaining methods are relatively existing, so details will not be described here.

In one embodiment, the road information includes at least curvature information, road width information, and road length information. Specifically, the curvature information is the degree of curvature of the road surface or the radius of the road curve, etc.; the road width information is the distance between the edges on both sides of the road, or the width of the road surface; the road length information is preferably for Length information for narrow road conditions. The vehicle information includes at least vehicle size information and vehicle location information, wherein the vehicle size specifically may include inherent information such as the length and width of the vehicle, wheelbase, and the length from the front of the vehicle to the front wheels. It is understandable that the above is an explanation of the content of specific information in road information and vehicle information. In real life, it is more complicated, so it is not limited to the above examples. In some special cases, it may also include obtaining road conditions. Information, weather information, etc., are difficult to list in detail, and here is only the minimum protection scope of the invention, and different information content from this embodiment can also be obtained depending on the actual situation.

Step S2: When the road information corresponds to the narrow curve state, according to the road information and vehicle information, generate auxiliary cornering information, the auxiliary cornering information includes at least one item of guidance information and driving reminder information.

In one embodiment, in step S2: when the road information corresponds to the narrow curve state, the step of generating auxiliary cornering information according to the road information and vehicle information includes: judging whether the road information corresponds to the narrow curve state, judging the condition Including: whether the curvature information meets the preset curvature condition; whether the road width information is lower than the width threshold; whether the road length information is longer than at least two of the road length thresholds.

In one embodiment, before the auxiliary cornering information is generated, the road ahead to be determined first corresponds to a state of a narrow curve, so the judgment needs to be made according to the road information. Wherein, the judging criteria are as described above, it is worth noting that at least two criteria are used for the judging criteria, combined with at least three criteria according to the road information, so there are specifically three possibilities, which will be described in detail below. First: the curvature information meets the preset curvature conditions, and the road width information is lower than the width threshold. It preferably corresponds to a shorter narrow curve, such as the corner of an alley, the corner of a parking lot, etc. Generally speaking, it has a large degree of curvature. , the characteristics of the road are extremely narrow; second: the curvature information meets the preset curvature conditions, and the road length information is longer than the road length threshold. characteristics, specifically such as mountain roads, etc.; third, the road width information is lower than the width threshold, and the road length information is longer than the road length threshold. This situation is mainly for narrow roads, and the curvature information is not used as The judgment criterion is because the curve is a special case of the straight road. Even if the road is not curved, narrow roads are also difficult for novice drivers. The reality is, for example, there are narrow bridges, between two large cars, parking lots, etc. Through the judgment of road information, more comprehensive coverage may occur on narrow curves, so as to help users have a way to deal with the above-mentioned situations. It can be understood that the above examples of judgment criteria are all descriptions of technology, rather than restrictions on technology. The actual situation is more complicated and is not limited to the above examples. In addition, there are large differences in the size of roads and vehicles, so no specific numerical descriptions are given for the thresholds of various judgment criteria, and the actual conditions of vehicles and roads shall prevail.

In one embodiment, step S2: generating auxiliary cornering information based on road information and vehicle information includes: when the distance between the vehicle position information and the narrow curve is less than the first distance threshold, judging according to the road information and vehicle information Whether the vehicle can pass through the narrow curve: if not, re-plan the navigation information so that the re-planned navigation route does not pass through the narrow curve; if yes, generate auxiliary cornering information.

In one embodiment, in this embodiment, specifically, when the vehicle determines that the vehicle will pass through the narrow curve, it can simulate and calculate whether the vehicle can pass through the narrow curve: if it can, then correspondingly generate auxiliary cornering information; if not , then re-plan the navigation information and change the navigation path to avoid this narrow curve. And the condition for performing this step is that the distance between the vehicle position information and the narrow curve is less than the first distance threshold, that is, before entering the narrow curve. It can be understood that different vehicles have different sizes, road conditions, and vehicle speeds, and the suitable prediction is different. Therefore, there is no specific limitation on the size of the first distance threshold.

In one embodiment, the process of generating auxiliary cornering information can be, for example, planning the vehicle's driving path when simulating whether the vehicle can pass through a narrow curve. Curved driving range. For the former, it is equivalent to the optimal solution to the problem of how to pass through narrow curves; for the latter, it is a collection of all solutions, and the auxiliary cornering information is determined based on this. That is to say, cornering can be simulated through road information and vehicle information to generate auxiliary cornering information. In addition, in another embodiment, the road information and vehicle information can also be numerically processed, so through a certain calculation relationship or mapping relationship, etc., the auxiliary cornering information can be obtained through calculation and estimation. It can be understood that the generation of auxiliary cornering information through road information and vehicle information is not limited to the above examples. The above description is only an explanation of the technology, not a limitation of the technology. In actual situations, it can also be There are other implementations. Wherein, the auxiliary cornering information includes at least one item of guidance information and driving reminder information. Specifically, the guidance information is to intuitively guide the user to drive through the narrow curve; the driving reminder information is to inform the user how to pass the narrow curve. Specifically, the two will be described in detail in the subsequent presentation steps, and will not be expanded here for the time being, but only for understanding.

Step S3: displaying assisting cornering information to assist the vehicle to pass through the narrow curve.

In one embodiment, the step S3: displaying the assisting cornering information step includes: when the distance between the vehicle position information and the narrow curve is less than a second distance threshold, outputting a deceleration prompt to display the assisting cornering information.

In one embodiment, first of all, the specific value of the second distance threshold is also due to the complexity of real life, and the specific value is not given for the time being. It is only determined that the vehicle is approaching a narrow curve. step. Wherein, it can be determined that the second distance threshold is smaller than the first distance threshold. When the distance between the vehicle position information and the narrow curve is less than the second distance threshold, a prompt is output to let the user slow down and approach the narrow curve, and the aforementioned generated auxiliary cornering information is displayed. Through this step, the technical effect of guaranteeing the driving safety of the vehicle is realized.

In one embodiment, in step S3: the step of displaying auxiliary cornering information includes: displaying guidance information, the guidance information includes at least two items of current wheel path information, ideal cornering path information, and vehicle driving area information; displaying The driving reminder information includes at least one of recommended steering wheel rotation, recommended driving angle and direction, recommended driving speed, braking advice, and reversing advice.

In one embodiment, firstly, the display method may include but not limited to liquid crystal instrument/central control screen/HUD, etc., for example, AR navigation may be realized, etc. For the display effect, please refer to Figure 2, which is the first display of the present invention. The schematic diagram of the display effect of displaying the auxiliary cornering information provided by the embodiment shows that the display image is similar to that of reversing, but in this embodiment, it is displayed on the road ahead. Specifically, the guidance information includes at least two items of current wheel path information, ideal cornering path information, and vehicle driving area information. It can be understood that two pieces of information will be determined during the aforementioned generation of auxiliary cornering information, one is the most ideal cornering path, and the other is a driving range that can be cornered, and these two can respectively correspond to the ideal cornering in the guidance information. Route information and vehicle driving area information. Furthermore, refer to FIG. 2 for the display of the ideal cornering route information, which respectively correspond to the driving paths of the left and right wheels, so the current wheel route information of the vehicle will also be displayed. Therefore, when the guidance information is displayed, at least two items of the guidance information will be included, and the cooperation of any two items can basically meet the needs of assisting the user to pass through the curve. In addition, further, for the information of the driving area of the vehicle, in addition to the above-mentioned content, it may also include the external environment information of the vehicle, so as to assist the driver to more flexibly handle when encountering relatively complicated narrow curves. For example, it may be to obtain detailed map information of a narrow road ahead from a high-definition map. Then, the driving area (body passing range) of the vehicle according to the current direction of the steering wheel is displayed on the detailed map projection information. In another embodiment, the display of driving reminder information can be displayed by means of graphics, text or voice. Specifically, the driving reminder information includes recommended steering wheel rotation, recommended driving angle and direction, recommended driving speed, braking advice, reversing, etc. At least one of the suggestions. That is to say, when the user is driving in a curve, the above-mentioned driving reminder information is displayed through voice broadcast or graphic display, so as to help the user understand how to control the vehicle to pass through the narrow curve. Through the combination of the guidance information and the driving reminder information, the preferred control vehicle can keep its driving trajectory consistent with the guidance line, so as to ensure that the vehicle passes through the detour safely. Furthermore, the content of each auxiliary cornering information displayed above may be distinguished by different actual parameters, which may include but not limited to color, thickness, style and so on. Referring to the display effect shown in Figure 2, the driving reminder information is displayed in text in the upper right corner of the display device, and the guidance information is displayed on the left side, wherein the dotted line is the ideal cornering route information, the solid line is the current route information, and the vehicle driving area information It is not shown on the way, but it can actually be displayed as the overall background on the left, and the specific implementation method is not limited. Therefore, it can be seen from Figure 2 that the situation shown in Figure 2 is that the vehicle goes straight and enters a left-turn narrow curve, and the user is guided to turn left according to the prompts through the ideal cornering path information and driving reminder information in order to safely pass through the narrow curve.

In one embodiment, in step S3: the step of displaying the auxiliary cornering information includes: when the difference between the vehicle position information and the guidance information is greater than the offset threshold, judging whether the vehicle can still pass the narrow bend according to the vehicle information and road information Road: If not, obtain the reverse navigation information according to the vehicle information and road information and display it; if yes, update the auxiliary cornering information according to the road information and vehicle information again and display it.

In one embodiment, when the vehicle is driving in a curve, although it is assisted by assisted driving information, the vehicle may often deviate from the ideal cornering path due to driver's misoperation and other circumstances. Therefore, the vehicle position information and the guidance information can be judged. If the deviation value is greater than the offset threshold, it is necessary to judge whether the current vehicle can still pass through the narrow curve. The judgment method and the simulated vehicle can generate auxiliary cornering information through the narrow curve Similar to the method, it can also be judged again based on vehicle information and road information. If the simulation calculates that it is impossible to continue to pass, the reverse navigation information will be obtained and displayed according to the vehicle information and road information to assist the user to reverse the car and exit the curve to re-enter, or adjust the vehicle attitude backwards so that it can continue to pass, etc., or it can be entered Before the curve, it is judged that the user's actual operation is unable to safely enter the curve, and the user will be prompted by means of alarm sound/alarm screen, etc., so that the user can switch roads or perform operations such as reversing and enter the curve again. If it is still possible to pass, update the auxiliary cornering information and display it. It can be understood that this embodiment corresponds to a real-time self-inspection process, to update in real time according to the state of the vehicle in the curve, and to judge the possibility of passing, so as to ensure driving safety.

In one embodiment, in the step S3: displaying the auxiliary cornering information, further comprising: generating vehicle automatic control information according to the auxiliary cornering information, and performing an automatic driving operation according to the automatic control information. For automatic driving, it can be a fully takeover automatic driving or an assisted automatic driving. The user can take over the vehicle at any time to flexibly deal with complex traffic situations.

In one embodiment, for a car with an automatic driving function, it is also possible to directly take over the vehicle through the automatic driving function while displaying the auxiliary cornering information, and control the automatic driving of the vehicle through the vehicle automatic control information generated by the auxiliary cornering information. through narrow bends.

The navigation method provided by the first embodiment of the present invention includes the following steps: Step S1: Obtain road information and vehicle information, the road information includes curvature information, road width information, and road length information, and the vehicle information includes vehicle size information and vehicle location information ; Step S2: When the road information corresponds to the narrow curve state, according to the road information and vehicle information, generate auxiliary cornering information, the auxiliary cornering information includes at least one of guidance information and driving reminder information; Step S3: Display auxiliary Cornering information to assist the vehicle to pass through narrow curves. Therefore, the present invention can assist the vehicle to pass through the narrow curve when the vehicle is facing a narrow curve, save user time, improve user experience, and ensure driving safety. In addition, further, the navigation method provided by an embodiment of the present invention can also judge whether the vehicle can pass through the narrow curve before driving to the curve, so as to re-plan the navigation route when the vehicle cannot pass, and avoid the vehicle driving The problem of not being able to pass through the corner appeared. And when the auxiliary cornering information is displayed when cornering, by displaying the ideal cornering path information, supplemented by displaying driving reminder information, the user can more intuitively understand how to pass the narrow corner, reducing the difficulty of operation. And it will be adjusted in real time, and the display content will be corrected at any time, so as to maximize the user's ease of cornering. In addition, if the vehicle has an automatic driving function, it can also cooperate with the automatic driving function to control the vehicle to automatically corner, which reduces the user's operation, reduces the occurrence of accidents, increases the user's convenience, improves the user's experience, and increases the driving experience. Safety.

second embodiment

Fig. 3 is a schematic flowchart of a navigation method provided by a second embodiment of the present invention. In order to clearly describe the navigation method provided by the second embodiment of the present invention, please refer to FIG. 2 and FIG. 3 .

Step S21: Acquire road information, which includes curvature information, road width information, and road length information, and determine whether the road information corresponds to the narrow curve state:

If not, execute step S22: display according to conventional navigation;

If so, execute step S23: acquire vehicle information, including vehicle size information and vehicle location information, and judge whether the vehicle can pass through the narrow curve according to the road information and vehicle information:

If not, then perform step S24: re-plan the navigation information, so that the re-planned navigation route does not pass through the narrow curve;

If so, execute step S25: generate auxiliary cornering information according to road information and vehicle information, where the auxiliary cornering information includes at least one item of guidance information and driving reminder information.

In one embodiment, in step S21, there are preferably three situations for judging whether the road information corresponds to a narrow curve state: first: the curvature information meets the preset curvature condition, and the road width information is lower than the width threshold , which preferably corresponds to shorter narrow curves, such as alley corners, parking lot corners, etc., which generally have the characteristics of large curvature and extremely narrow roads; second: the curvature information meets the preset curvature conditions, The road length information is longer than the road length threshold. In this case, it is preferred for relatively long and narrow roads, which generally have the characteristics of general curvature but narrow and long roads, such as mountain trails, etc.; third, the road width information is low. Because of the width threshold, the road length information is longer than the road length threshold. This situation is mainly for narrow roads. The curvature information is not used as the judgment standard because the curve is a special case of a straight road. Even if the road is not curved, but narrow Roads are also tricky for drivers, with realistic situations such as narrow bridges, between two large cars, parking lots, etc.

In one embodiment, if the judgment in step S21 is negative, it can be known as a normal situation, so a conventional navigation display is performed; if it is, the road ahead corresponds to a narrow curve state, and the navigation method provided by the present invention needs to be executed. First of all, it is necessary to obtain vehicle information, determine whether the vehicle can pass through the narrow curve safely according to the vehicle information and road information, and perform the next steps only when the vehicle can pass through the narrow curve, if not, re-plan the navigation to avoid the narrow curve Do not waste time.

In one embodiment, when it is necessary to execute the navigation method provided by the present invention, that is, step S25 is specifically performed: generate auxiliary cornering information according to road information and vehicle information, and the auxiliary cornering information includes guidance information and driving reminder information At least one of the . Specifically, the process of generating auxiliary cornering information can be, for example, planning the vehicle driving path when simulating whether the vehicle can pass through a narrow curve. scope. For the former, it is equivalent to the optimal solution to the problem of how to pass through narrow curves; for the latter, it is a collection of all solutions, and the auxiliary cornering information is determined based on this. That is to say, cornering can be simulated through road information and vehicle information to generate auxiliary cornering information. In addition, in another embodiment, the road information and vehicle information can also be numerically processed, so through a certain calculation relationship or mapping relationship, etc., the auxiliary cornering information can be obtained through calculation and estimation. It can be understood that the generation of auxiliary cornering information through road information and vehicle information is not limited to the above examples. The above description is only an explanation of the technology, not a limitation of the technology. In actual situations, it can also be There are other implementations. Wherein, the auxiliary cornering information includes at least one of guidance information and driving reminder information: the guidance information is to intuitively guide the user to drive through the narrow curve; the driving reminder information is to inform the user how to pass the narrow curve. Furthermore, the guidance information includes at least two items of the current wheel path information, the ideal cornering path information, and the vehicle driving area information; the driving reminder information includes the recommended steering wheel rotation, the recommended driving angle direction, and the recommended driving speed. , braking advice, and at least one of reversing advice. Specifically, the specific content of the two will be used for display. For details, please refer to the display steps below, which will not be expanded here.

Step S26: When the position information of the vehicle is located in a narrow curve, the assisting cornering information is displayed, so as to assist the vehicle to pass through the narrow curve.

In one embodiment, for step S26, that is, the step of displaying auxiliary cornering information, firstly, the display method may include but not limited to liquid crystal instrument/central control screen/HUD, etc., for example, AR navigation may be realized, etc., for For the display effect, please refer to FIG. 2 . FIG. 2 is a schematic diagram of the display effect of displaying auxiliary cornering information provided by the first embodiment of the present invention. It can be seen that the display image is similar to that of reversing, but in this embodiment it is displayed on the road ahead. Specifically, the guidance information includes at least two items of current wheel path information, ideal cornering path information, and vehicle driving area information. It can be understood that two pieces of information will be determined during the aforementioned generation of auxiliary cornering information, one is the most ideal cornering path, and the other is a driving range that can be cornered, and these two can respectively correspond to the ideal cornering in the guidance information. Route information and vehicle driving area information. Furthermore, refer to FIG. 2 for the display of the ideal cornering route information, which respectively correspond to the driving paths of the left and right wheels, so the current wheel route information of the vehicle will also be displayed. Therefore, when the guidance information is displayed, at least two items of the guidance information will be included, and the cooperation of any two items can basically meet the needs of assisting the user to pass through the curve. In addition, further, for the information of the driving area of the vehicle, in addition to the above-mentioned content, it may also include the external environment information of the vehicle, so as to assist the driver to more flexibly handle when encountering relatively complicated narrow curves. For example, it may be to obtain detailed map information of a narrow road ahead from a high-definition map. Then, the driving area (body passing range) of the vehicle according to the current direction of the steering wheel is displayed on the detailed map projection information. In another embodiment, the display of driving reminder information can be displayed by means of graphics, text or voice. Specifically, the driving reminder information includes recommended steering wheel rotation, recommended driving angle and direction, recommended driving speed, braking advice, reversing, etc. At least one of the suggestions. That is to say, when the user is driving in a curve, the above-mentioned driving reminder information is displayed through voice broadcast or graphic display, so as to help the user understand how to control the vehicle to pass through the narrow curve. Through the combination of the guidance information and the driving reminder information, the preferred control vehicle can keep its driving trajectory consistent with the guidance line, so as to ensure that the vehicle passes through the detour safely. Furthermore, the content of each auxiliary cornering information displayed above may be distinguished by different actual parameters, which may include but not limited to color, thickness, style and so on. Referring to the display effect shown in Figure 2, the driving reminder information is displayed in text in the upper right corner of the display device, and the guidance information is displayed on the left side, wherein the dotted line is the ideal cornering route information, the solid line is the current route information, and the vehicle driving area information It is not shown on the way, but it can actually be displayed as the overall background on the left, and the specific implementation method is not limited. Therefore, it can be seen from Figure 2 that the situation shown in Figure 2 is that the vehicle goes straight and enters a left-turn narrow curve, and the user is guided to turn left according to the prompts through the ideal cornering path information and driving reminder information in order to safely pass through the narrow curve.

Step S27: Judging whether to drive out of the narrow curve:

If yes, execute step S28: prompt the user to exit the narrow curve, and stop the display;

If not, execute step S29: judge whether the vehicle can still pass through the narrow curve according to the vehicle information and the road information:

If not, execute step S210: obtain and display the reversing navigation information according to the vehicle information and road information;

If yes, execute step S211: update and display the auxiliary cornering information according to the road information and vehicle information.

In one embodiment, starting from step S27, that is, the steps executed after the vehicle is located in a narrow curve, specifically includes judging whether the vehicle has driven out of the narrow curve, and if so, prompting the user that the vehicle has driven out of the narrow curve, and stopping the display; If it is still in the curve, perform self-inspection according to the vehicle position information at any time. The first is step S29: According to the vehicle information and the road information, it is judged whether the vehicle can still pass through the narrow curve. Specifically, it can be to judge whether the vehicle position exceeds the vehicle driving area calculated by simulation, for example, compare whether the offset value of the vehicle position is is greater than the offset threshold. If yes, it can be determined that the vehicle cannot continue to pass through the narrow curve in the current state, so step S210 is executed to generate reverse navigation information to assist the driver to exit the narrow curve and re-enter, or exit to the extent that the vehicle can continue driving. If not, execute step S211, that is, adjust the auxiliary cornering information according to the vehicle state in real time, so as to ensure that the user can pass the narrow curve according to the display of the auxiliary cornering information. Specifically, the navigation method provided in the first embodiment of the present invention has been described in the above implementable manners, so more implementation details can be referred to above, and will not be repeated here.

The navigation method provided by the second embodiment of the present invention includes the following steps: Step S21: Obtain road information, the road information includes curvature information, road width information, and road length information, and determine whether the road information corresponds to the narrow curve state: if not , then execute step S22: drive according to conventional navigation; if yes, execute step S23: obtain vehicle information, vehicle information includes vehicle size information, vehicle location information, judge whether the vehicle can pass the narrow curve according to road information and vehicle information: if no , then execute step S24: re-plan the navigation information so that the re-planned navigation route does not pass through the narrow curve; At least one of information and driving reminder information; Step S26: When the vehicle position information is located in a narrow curve, display auxiliary cornering information to assist the vehicle to pass through the narrow curve; Step S27: Determine whether to drive out of the narrow curve: if yes, Then perform step S28: prompt the user to exit the narrow curve, and stop the display; if not, then perform step S29: judge whether the vehicle can pass through the narrow curve according to the vehicle information and the road information: if not, then perform step S210 : Obtain and display the reverse navigation information according to the vehicle information and road information; if yes, perform step S211: update and display the auxiliary cornering information according to the road information and vehicle information. Therefore, the navigation method provided by the second embodiment of the present invention is an extension of the first embodiment, and the actual technical effects that can be achieved are the same. Therefore, the specific implementation effects can refer to the previous description, and will not be repeated again.

third embodiment

Fig. 5 is a schematic diagram of the first structure of the navigation device provided by the third embodiment of the present invention. In order to clearly describe the navigation device 110 provided by the third embodiment of the present invention, please refer to FIG. 1 , FIG. 2 , FIG. 3 and FIG. 4 .

The navigation device 110 provided by the third embodiment of the present invention includes: a processor A101 and a memory A201, wherein the processor A101 is used to execute the computer program A6 stored in the memory A201 to realize the Describes the steps of the navigation method.

In an implementation manner, the navigation device 110 provided in this embodiment includes at least one processor A101 and at least one memory A201. Wherein, at least one processor A101 may be called a processing unit A1, and at least one memory A201 may be called a storage unit A2. Specifically, the storage unit A2 stores a computer program A6. When the computer program A6 is executed by the processing unit A1, the navigation device 110 provided in this embodiment realizes the navigation method described in the first embodiment or the second embodiment. step. For example, step S1 shown in Fig. 1: obtain road information and vehicle information, road information includes curvature information, road width information, road length information, vehicle information includes vehicle size information, vehicle location information; step S2: when road information When corresponding to a narrow curve state, generate auxiliary cornering information according to road information and vehicle information, the auxiliary cornering information includes at least one of guidance information and driving reminder information; step S3: display auxiliary cornering information to assist the vehicle through narrow bends.

In an implementation manner, the navigation device 110 provided in this embodiment may include multiple memories A201 (referred to as storage units A2 for short).

Wherein, the storage unit A2 may be a volatile memory or a non-volatile memory, and may also include both volatile and non-volatile memories. Wherein, the non-volatile memory can be a read-only memory (ROM, Read Only Memory), a programmable read-only memory (PROM, Programmable Read-Only Memory), an erasable programmable read-only memory (EPROM, Erasable Programmable Read-Only Memory), Only Memory), Electrically Erasable Programmable Read-Only Memory (EEPROM, Electrically Erasable Programmable Read-Only Memory), Magnetic Random Access Memory (FRAM, ferromagnetic random access memory), Flash Memory (Flash Memory), Magnetic Surface Memory , CD, or CD-ROM (CD-ROM, Compact Disc Read-Only Memory); the magnetic surface storage can be disk storage or tape storage. The volatile memory may be random access memory (RAM, Random Access Memory), which is used as an external cache. By way of illustration and not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM, Static Random Access Memory), Synchronous Static Random Access Memory (SSRAM, Synchronous Static Random Access Memory), Dynamic Random Access Memory Memory (DRAM, Dynamic Random Access Memory), Synchronous Dynamic Random Access Memory (SDRAM, Synchronous Dynamic Random Access Memory), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM, Double Data Rate Synchronous Dynamic Random Access Memory), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM, Enhanced Synchronous Dynamic Random Access Memory), Synchronous Link Dynamic Random Access Memory (SLDRAM, SyncLink Dynamic Random Access Memory), Direct Memory Bus Random Access Memory (DRRAM, Direct Rambus Random Access Memory) . The memory unit A2 described in the embodiment of the present invention is intended to include but not limited to these and any other suitable types of memory.

In one embodiment, the navigation device 110 further includes a bus connecting different components (such as the processor A101 and the memory A201, the display device A3, etc.). Among them, the display device A3 can display the auxiliary cornering information, and the display methods can include but not limited to liquid crystal instrument/central control screen/HUD, etc. In addition to the traditional display through the central control screen, the auxiliary cornering information can also be displayed. The information is projected onto the windshield of the front car to realize AR navigation, etc. For the specific display effect, please refer to Figure 2.

In an implementation manner, the navigation device 110 in this embodiment may further include a communication interface (such as an I/O interface A4 ), which may be used to communicate with external devices.

In an implementation manner, the navigation device 110 provided in this embodiment may further include a communication device A5.

In one embodiment, as in the navigation method provided in the first embodiment of the present invention, in the step of obtaining road information, there is an embodiment in which the vehicle is connected to other terminals for obtaining, and for the method of connecting with other terminals, The hardware of the I/O interface A4 and/or the communication device A5 is required to participate. For specific implementation methods, reference may be made to the corresponding description above, and no further description is given here.

The navigation device 110 provided by the third embodiment of the present invention includes a memory A101 and a processor A201, and the processor A101 is used to execute the computer program A6 stored in the memory A201 to realize the functions described in the first embodiment or the second embodiment The steps of the navigation method. Therefore, the navigation device 110 provided in this embodiment can assist the vehicle to pass through the narrow curve when the vehicle is facing a narrow curve, saving user time, improving user experience, and ensuring driving safety. In addition, further, the navigation method provided by an embodiment of the present invention can also judge whether the vehicle can pass through the narrow curve before driving to the curve, so as to re-plan the navigation route when the vehicle cannot pass, and avoid the vehicle driving The problem of not being able to pass through the corner appeared. And when the auxiliary cornering information is displayed when cornering, by displaying the ideal cornering path information, supplemented by displaying driving reminder information, the user can more intuitively understand how to pass the narrow corner, reducing the difficulty of operation. And it will be adjusted in real time, and the display content will be corrected at any time, so as to maximize the user's ease of cornering. In addition, if the vehicle has an automatic driving function, it can also cooperate with the automatic driving function to control the vehicle to automatically corner, which reduces the user's operation, reduces the occurrence of accidents, increases the user's convenience, improves the user's experience, and increases the driving experience. Safety.

FIG. 5 is a second structural schematic diagram of the navigation device 110 provided by the third embodiment of the present invention. In order to clearly describe the navigation device 110 provided by the third embodiment of the present invention, please refer to FIG. 1 , FIG. 3 , and FIG. 5 .

Referring to Fig. 5, in other embodiments, the navigation device 110 provided by the third embodiment of the present invention includes: a central controller 801 (referred to as CPU), a read-only memory 802 (referred to as ROM), and a random access memory 803 (abbreviated as RAM). , a communication bus 804, an I/O interface 805, an input unit 806, an output unit 807, a storage unit 808, and a communication unit 809.

In other implementation manners, the central controller 801 (CPU for short), the read only memory 802 (ROM for short), and the random access memory 803 (RAM for short) may constitute a processor.

The third embodiment of the present invention also provides a car, including the above-mentioned navigation device 110, wherein for the specific structure of the navigation device 110 and the specific beneficial effects that can be achieved, reference can be made to the relevant descriptions above, and hereby No more details.

The third embodiment of the present invention also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program A6, and when the computer program A6 is executed by the processor A101, the implementation of the first embodiment or the second embodiment is implemented. Steps of the described navigation method.

In one embodiment, the computer-readable storage medium provided by this embodiment may include any entity or device or recording medium capable of carrying computer program codes, such as ROM, RAM, magnetic disk, optical disk, flash memory, and the like.

The technical effects that can be achieved when the computer program A6 stored in the computer-readable storage medium provided by the third embodiment of the present invention is executed by the processor A101 have been described in detail above, and you can refer to the above for details, and will not repeat them here. repeat.

The various technical features of the above-mentioned embodiments can be combined arbitrarily. For the sake of concise description, all possible combinations of the various technical features in the above-mentioned embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, should be considered as within the scope of this specification.

It should be noted that, in this document, the term "comprising", "comprising" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or apparatus comprising a set of elements includes not only those elements, It also includes other elements not expressly listed, or elements inherent in the process, method, article, or device. Without further limitations, an element defined by the phrase "comprising a..." does not exclude the existence of other identical elements in the process, method, article, or device that includes the element. In addition, different implementations of the present application Components, features, and elements with the same name in the example may have the same meaning, or may have different meanings, and the specific meaning shall be determined based on the explanation in the specific embodiment or further combined with the context in the specific embodiment. In this article, unless otherwise specified, the meanings of "plurality" and "several" are two or more.

It should be understood that although the various steps in the flow chart in the embodiment of the present application are displayed sequentially as indicated by the arrows, these steps are not necessarily executed sequentially in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some of the steps in the figure may include multiple sub-steps or multiple stages, these sub-steps or stages are not necessarily executed at the same time, but may be executed at different times, and the execution order is not necessarily sequential Instead, it may be performed alternately or alternately with at least a part of other steps or sub-steps or stages of other steps.

Those of ordinary skill in the art can understand that all or part of the steps for implementing the above method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the The steps of the above method embodiments are included. The foregoing storage medium includes: various media capable of storing program codes such as ROM, RAM, magnetic disk or optical disk.

The above is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Anyone skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present invention. Should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be determined by the protection scope of the claims.

Claims (10)

1. A navigation method, characterized in that, comprises the steps of: Obtain road information and vehicle information, the road information includes curvature information, road width information, and road length information, and the vehicle information includes vehicle size information and vehicle location information; When the road information corresponds to a narrow curve state, generating auxiliary cornering information according to the road information and the vehicle information, the auxiliary cornering information includes at least one of guidance information and driving reminder information; The auxiliary cornering information is displayed to assist the vehicle to pass through the narrow curve. 2. The navigation method according to claim 1, wherein when the road information corresponds to a narrow curve state, the step of generating auxiliary cornering information according to the road information and the vehicle information includes: Judging whether the road information corresponds to a narrow curve state, the judging conditions include: Whether the curvature information meets the preset curvature condition; Whether the road width information is lower than the width threshold; Whether the path length information is longer than at least two items in the path length threshold. 3. The navigation method according to claim 1, in the step of generating auxiliary cornering information according to the road information and the vehicle information, comprising: When the distance between the vehicle position information and the narrow curve is less than a first distance threshold, judging whether the vehicle can pass through the narrow curve according to the road information and the vehicle information: If not, re-plan the navigation information so that the re-planned navigation route does not pass through the narrow curve; If yes, generate the auxiliary cornering information. 4. The navigation method according to claim 1, in the step of displaying the auxiliary cornering information, comprising: When the distance between the vehicle position information and the narrow curve is less than a second distance threshold, a deceleration prompt is output and the auxiliary cornering information is displayed. 5. The navigation method according to claim 1, in the step of displaying the auxiliary cornering information, comprising: displaying the guidance information, the guidance information including at least two items of current wheel path information, ideal cornering path information, and vehicle driving area information; The driving reminder information is displayed, and the driving reminder information includes at least one of recommended steering wheel rotation advice, recommended driving angle direction, recommended driving speed, braking advice, and reversing advice. 6. The navigation method according to claim 1, in the step of displaying the auxiliary cornering information, comprising: When the difference between the vehicle position information and the guidance information is greater than an offset threshold, judge whether the vehicle can pass through the narrow curve according to the vehicle information and the road information: If not, obtain and display reverse navigation information according to the vehicle information and the road information; If yes, update and display the auxiliary cornering information again according to the road information and the vehicle information. 7. The navigation method according to claim 1, in the step of displaying the auxiliary cornering information, further comprising: Automatic vehicle control information is generated according to the auxiliary cornering information, and an automatic driving operation is performed according to the automatic control information. 8. A navigation device, comprising a processor and a memory: The processor is configured to execute the computer program stored in the memory, so as to realize the steps of the navigation method according to any one of claims 1 to 7. 9. A car, characterized by comprising the navigation device according to claim 8. 10. A computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the navigation according to any one of claims 1 to 7 is realized method steps.

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