本申请是分案申请，原申请的申请号：201210214008.9，申请日：2012-06-26，发明名称：一种识别主辅路的车载导航装置及导航方法。This application is a divisional application, the application number of the original application: 201210214008.9, the application date: 2012-06-26, the title of the invention: a vehicle navigation device and navigation method for identifying main and auxiliary roads.
技术领域technical field
本发明涉及智能交通的车载导航技术领域，尤其涉及一种识别主辅路的车载导航装置及导航方法。The invention relates to the technical field of vehicle navigation for intelligent transportation, in particular to a vehicle navigation device and a navigation method for identifying main and auxiliary roads.
背景技术Background technique
城市的发展离不开道路的发展，便捷高效的交通促进了城市经济发展，城市人口、车辆日益增加，对城市交通和运行于城市道路的车辆都提出了更高的要求。自80年代开始，很多大型城市如北京纷纷修建城市快速路，这些道路往往分为主路和辅路。如图1所示，城市主路和辅路的区别在于：一、主路只能机动车行驶，辅路是机动车和非机动车和行人混行；二、对车辆在主辅和辅路的行驶速度要求不同，例如辅路的车速不准超过60公里，主路的车速可以在80公里以上；三、辅路连接了很多路口，可以使车辆离开快速路，而主路只有转向辅路的路口。The development of cities is inseparable from the development of roads. Convenient and efficient transportation promotes the development of urban economy. The urban population and vehicles are increasing day by day, which puts forward higher requirements for urban traffic and vehicles running on urban roads. Since the 1980s, many large cities such as Beijing have built urban expressways, and these roads are often divided into main roads and auxiliary roads. As shown in Figure 1, the difference between the main road and the auxiliary road in the city is: 1. The main road can only be driven by motor vehicles, and the auxiliary road is mixed with motor vehicles, non-motor vehicles and pedestrians; 2. The driving speed of vehicles on the main and auxiliary roads The requirements are different. For example, the speed of the auxiliary road is not allowed to exceed 60 kilometers, and the speed of the main road can be more than 80 kilometers. Third, the auxiliary road connects many intersections, which can make vehicles leave the expressway, while the main road only has intersections turning to the auxiliary road.
但由于快速路出口间距较小，很容易使高峰车流在主辅路进出口造成拥堵，而如果没有精确的定位主辅路的进出口，车辆则很容易被混入主路的车流中错过出口，另外，主路和辅路在外观上并不很大的差异，而主辅路车辆的负载和车速要求却不相同，驾驶人员很容易因为惯性驾驶导致交通事故，因此，需要一种较为精确的车辆导航技术，使行驶车辆可以实时判别当前所处的位置，是否进入或离开主路或辅路。However, due to the small distance between expressway exits, it is easy to cause peak traffic congestion at the entrance and exit of the main and auxiliary roads. If the entrance and exit of the main and auxiliary roads are not accurately located, vehicles are easily mixed into the traffic flow of the main road and miss the exit. In addition, There is not much difference in appearance between the main road and the auxiliary road, but the load and speed requirements of the vehicles on the main and auxiliary road are different. Drivers are likely to cause traffic accidents due to inertial driving. Therefore, a more accurate vehicle navigation technology is needed. The driving vehicle can judge the current location in real time, whether to enter or leave the main road or side road.
但是现有技术中，车载导航装置对车辆的定位重点在于如何确定车辆行驶所对应的道路，但对于车辆位置点的定位准确性未给予足够的重视，而只是简单的用垂直匹配方法完成匹配点的确定，即通过轨迹点作匹配道路的垂足，以垂足作为车辆位置的匹配点，这种情况造成了无法有效校正车载导航在沿道路方向的误差，以误差在最佳的情况下甚至也要达到10m，这种不准确性导致在主路或辅路行驶的车辆无法准确的进行道路行驶的正确引导。 However, in the prior art, the car navigation device's positioning of the vehicle focuses on how to determine the road corresponding to the vehicle, but does not pay enough attention to the positioning accuracy of the vehicle position point, but simply completes the matching point with the vertical matching method. The determination of the track point is used to match the vertical foot of the road, and the vertical foot is used as the matching point of the vehicle position. This situation makes it impossible to effectively correct the error of the vehicle navigation along the road direction. In the best case, the error can even be It also needs to reach 10m. This inaccuracy makes it impossible for vehicles traveling on the main road or side roads to accurately guide the road. the
发明内容Contents of the invention
本发明实施例的目的是针对主辅路的特点，而提出一种识别主辅路的导航装置及导航方法，使得在行驶过程中可以提示驾驶人员自车是否进入主辅路，而使驾驶人员可以根据提示进行正确的驾驶， 提高了车辆驾驶的安全性。The purpose of the embodiment of the present invention is to propose a navigation device and navigation method for identifying the main and auxiliary roads in view of the characteristics of the main and auxiliary roads, so that the driver can be prompted whether the vehicle has entered the main and auxiliary roads during driving, and the driver can follow the prompts. Proper driving improves the safety of vehicle driving.
为了达到上述发明目的，本发明实施例提出的一种识别主辅路的车载导航装置，所述装置包括：地图数据存储单元、程序数据存储单元、地图显示单元、GPS接收器、语音输出装置、语音数据存储单元、CPU单元，其中，所述地图数据存储单元、程序数据存储单元、地图显示单元、GPS接收器、语音输出装置、语音数据存储单元分别与CPU单元双向连接，所述装置还包括车辆倒车后视摄像头，与CPU单元进行双向连接，其中，In order to achieve the purpose of the above invention, an on-board navigation device for identifying main and auxiliary roads proposed in an embodiment of the present invention, said device includes: a map data storage unit, a program data storage unit, a map display unit, a GPS receiver, a voice output device, a voice A data storage unit and a CPU unit, wherein the map data storage unit, program data storage unit, map display unit, GPS receiver, voice output device, and voice data storage unit are respectively bidirectionally connected to the CPU unit, and the device also includes a vehicle The rear view camera for reversing is bidirectionally connected with the CPU unit, wherein,
地图数据存储单元存储有导航电子地图数据，其中，所述导航电子地图数据包括道路的形态属性、连接关系及方向，所述道路属性包括主辅或辅路；The map data storage unit stores navigation electronic map data, wherein the navigation electronic map data includes the morphological attribute, connection relationship and direction of the road, and the road attribute includes main and auxiliary roads or auxiliary roads;
程序数据存储单元用于存储导航用程序，包括主导航程序段，地图显示程序段和路径计算程序段、语音引导程序段及目的地检索程序段，还包括GPS位置匹配程序段，所述GPS位置匹配程序段包括普通匹配程序段和主辅路匹配程序段；The program data storage unit is used to store the navigation program, including the main navigation program segment, the map display program segment and the path calculation program segment, the voice guidance program segment and the destination retrieval program segment, and also includes the GPS position matching program segment, the GPS position The matching program segment includes the common matching program segment and the main and auxiliary road matching program segment;
其中，所述主辅路位置匹配程序段根据GPS接收器接收到的当前位置信息进行地图匹配，当匹配的候选路存在主辅路时，在自车距离前方主辅路路口达到预设阈值时，启动所述车辆倒车后视摄像头获取自车行驶方向线和车道线，启动车辆转弯识别功能进行拐弯识别直到自车离开当前主辅路路口至预设阈值，并根据获取的图像中提取的自车行驶方向线和车道线形成的夹角判断车辆是否拐弯，当车辆拐弯时又根据车辆当前所处道路位置确定自车是否进入主路或辅路。Wherein, the main and auxiliary road position matching program segment performs map matching according to the current position information received by the GPS receiver. When there is a main and auxiliary road in the matching candidate road, when the distance from the vehicle to the front main and auxiliary road intersection reaches a preset threshold, the The rear view camera of the above-mentioned vehicle obtains the driving direction line and lane line of the vehicle, starts the turning recognition function of the vehicle to recognize the turning until the vehicle leaves the current main and auxiliary road intersection to the preset threshold, and extracts the driving direction line of the vehicle according to the acquired image. The angle formed with the lane line determines whether the vehicle is turning. When the vehicle is turning, it is determined whether the vehicle enters the main road or the auxiliary road according to the current road position of the vehicle.
优选地，所述识别主辅路的车载导航装置还包括GPRS通信单元，用来实时加载主辅路上的实时路况信息，当主辅路匹配程序段正确识别出主辅路，显示前方路况的拥堵情况。Preferably, the car navigation device for identifying main and auxiliary roads further includes a GPRS communication unit, which is used to load real-time road condition information on the main and auxiliary roads in real time, and when the main and auxiliary road matching program segment correctly identifies the main and auxiliary roads, it displays the congestion situation of the road ahead.
为了实现前述发明目的，本发明实施例还提供了一种识别主辅路的车载导航方法，所述导航方法包括以下步骤：In order to achieve the aforementioned object of the invention, an embodiment of the present invention also provides a car navigation method for identifying main and auxiliary roads, the navigation method includes the following steps:
CPU单元根据GPS接收器接收的GPS位置信号探测当前位置，并读取地图数据中与当前位置相对应的地图数据，由地图显示单元显示于当前位置相对应的地图，由位置匹配程序段根据GPS接收器接收到的当前位置信息进行地图匹配，并根据道路属性看匹配的候选道路是否存在主辅路；The CPU unit detects the current position according to the GPS position signal received by the GPS receiver, and reads the map data corresponding to the current position in the map data, and the map display unit displays the map corresponding to the current position, and the position matching program segment according to the GPS The current location information received by the receiver performs map matching, and checks whether there are main and auxiliary roads in the matching candidate road according to the road attributes;
根据道路的连接关系进行判断匹配的道路前方是否存在主辅路出入口时，若存在，从自车距离前方主辅路路口达到预设阈值时，利用车辆倒车后视摄像头进行车辆转弯识别，直到自车离开当前主辅路路口至预设阈值解除识别，即判断进出主辅路。When judging whether there is a main and auxiliary road entrance and exit in front of the matching road according to the connection relationship of the road, if there is, when the distance from the self-vehicle to the main and auxiliary road intersection in front reaches the preset threshold, use the vehicle’s rear-view camera to perform vehicle turning recognition until the self-vehicle leaves When the current main and auxiliary road intersection reaches the preset threshold, the identification is released, that is, it is judged to enter and exit the main and auxiliary road.
优选地，所述车辆转弯识别功能包括以下步骤：根据倒车后视摄像头获取到的倒车后视图像提取出道路车道线，并计算车道线和自车行驶方向形成的夹角，根据夹角的变化来判断车辆是否拐弯以及拐弯的方向，如自车和车道线的夹角平行，则自车直行；如自车和车道线的夹角相交，则自车转弯。Preferably, the vehicle turning recognition function includes the following steps: extracting the road lane line from the rear view image obtained by the rear view camera, and calculating the angle formed between the lane line and the driving direction of the vehicle, and according to the change of the angle To judge whether the vehicle is turning and the direction of the turning, if the angle between the vehicle and the lane line is parallel, the vehicle will go straight; if the angle between the vehicle and the lane line intersects, then the vehicle will turn.
优选地，所述判断进出主辅路时，如果自车在主路上，识别出车辆向右转弯，说明进入辅路；如果自车在辅路上，识别出车辆向左转弯，说明进入主路。Preferably, when judging entering and exiting the main and auxiliary road, if the own vehicle is on the main road, it is recognized that the vehicle is turning right, indicating that the vehicle is entering the auxiliary road;
与现有技术相比，本发明实施例的可识别主辅路的导航装置及方法，根据自车当前的位置及倒车后视提取的图像，可判断自车是否进出主辅路，从而精确的识别出自车在主路还是辅路上，解决了导航中“我在哪里”的问题，对语音提示、路径计算及动态交通信息的提示的正确性提供了保障，提高了车辆驾驶的安全性。Compared with the prior art, the navigation device and method that can identify the main and auxiliary roads in the embodiment of the present invention can judge whether the own car enters or exits the main and auxiliary roads according to the current position of the own car and the image extracted from the back view, so as to accurately identify the main and auxiliary roads. Whether the car is on the main road or the auxiliary road, it solves the problem of "where am I" in navigation, provides guarantee for the correctness of voice prompts, route calculation and dynamic traffic information prompts, and improves the safety of vehicle driving.
附图说明Description of drawings
通过下面结合附图对其示例性实施例进行的描述，本发明上述特征和优点将会变得更加清楚和容易理解。The above-mentioned features and advantages of the present invention will become clearer and easier to understand through the following description of exemplary embodiments thereof in conjunction with the accompanying drawings.
图1为本发明中涉及主辅路的路标示意图；Fig. 1 is a schematic diagram of road signs related to main and auxiliary roads in the present invention;
图2为本发明实施例识别主辅路的车载导航装置组成示意图；Fig. 2 is a schematic composition diagram of a car navigation device for identifying main and auxiliary roads according to an embodiment of the present invention;
图3为本发明实施例转弯识别车辆进入主路的示意图；FIG. 3 is a schematic diagram of a turning recognition vehicle entering a main road according to an embodiment of the present invention;
图4为本发明实施例转弯识别车辆进入辅路的示意图；FIG. 4 is a schematic diagram of a turning recognition vehicle entering an auxiliary road according to an embodiment of the present invention;
图5为本发明实施例识别主辅路的车载导航方法的流程图；5 is a flow chart of a vehicle navigation method for identifying main and auxiliary roads according to an embodiment of the present invention;
图6为本发明实施例识别车辆转弯的方法流程图；FIG. 6 is a flow chart of a method for identifying vehicle turns according to an embodiment of the present invention;
图7、8、9分别为根据车辆车道线和车辆行驶方向的夹角的变化角度判断车辆直行、左转和右转的示意图。Figures 7, 8, and 9 are schematic diagrams for judging whether a vehicle is going straight, turning left, or turning right according to the change angle of the included angle between the lane line of the vehicle and the driving direction of the vehicle.
具体实施方式Detailed ways
下面结合附图对本发明作进一步详细说明。The present invention will be described in further detail below in conjunction with the accompanying drawings.
如图2所示，本发明实施例提供了一种识别主辅路的车载导航装置，所述装置包括：地图数据存储单元、程序数据存储单元、地图显示单元、GPS接收器、语音输出装置、语音数据存储单元、CPU单元，其中，所述地图数据存储单元、程序数据存储单元、地图显示单元、GPS接收器、语音输出装置、语音数据存储单元分别与CPU单元双向连接，As shown in Figure 2, an embodiment of the present invention provides a car navigation device for identifying main and auxiliary roads, said device comprising: a map data storage unit, a program data storage unit, a map display unit, a GPS receiver, a voice output device, a voice a data storage unit and a CPU unit, wherein the map data storage unit, program data storage unit, map display unit, GPS receiver, voice output device, and voice data storage unit are bidirectionally connected to the CPU unit respectively,
另外，所述装置还包括车辆倒车后视摄像头，与CPU单元进行双向连接，其中，In addition, the device also includes a rear view camera for reversing the vehicle, which is bidirectionally connected with the CPU unit, wherein,
地图数据存储单元存储有导航电子地图数据，其中，所述导航电子地图数据包括道路的形态属性、连接关系及方向，所述道路形态属性包括该条路是否为主辅或辅路的属性，电子地图中还包括标示某路口数据的道路属性；The map data storage unit is stored with navigation electronic map data, wherein, the navigation electronic map data includes the morphological attribute, connection relationship and direction of the road, and the road morphological attribute includes the attribute of whether the road is a main or auxiliary road or an auxiliary road. Also includes the road attribute indicating the intersection data;
程序数据存储单元用于存储导航用程序，包括主导航程序段，地图显示程序段和路径计算程序段、语音引导程序段及目的地检索程序段，还包括GPS位置匹配程序段，所述GPS位置匹配程序段包括普通匹配程序段和主辅路匹配程序段；The program data storage unit is used to store the navigation program, including the main navigation program segment, the map display program segment and the path calculation program segment, the voice guidance program segment and the destination retrieval program segment, and also includes the GPS position matching program segment, the GPS position The matching program segment includes the common matching program segment and the main and auxiliary road matching program segment;
其中，所述主辅路匹配程序段根据GPS接收器接收到的当前位置信息进行车辆在电子地图的定位匹配，看匹配的候选路是否存在主辅路，即根据GPS接收器接收到的位置信息或轨迹信息与电子地图数据中的基于地图的位置(路径)进行匹配来确定当前车辆所在的道路，当确定所行驶的道路时，再根据该道路的属性确定该条道路是主路还是辅路，且同时根据电子地图中道路的连接关系判定主辅路路口的位置，并判断车辆当前离主辅路路口的位置。Wherein, the main and auxiliary road matching program segment performs positioning matching of the vehicle on the electronic map according to the current position information received by the GPS receiver, and checks whether there is a main and auxiliary road in the matching candidate road, that is, according to the position information or track received by the GPS receiver The information is matched with the map-based position (path) in the electronic map data to determine the road where the current vehicle is on. When the road is determined, it is determined whether the road is a main road or an auxiliary road according to the attributes of the road, and at the same time Determine the position of the intersection of the main and auxiliary roads according to the connection relationship of the roads in the electronic map, and judge the current position of the vehicle from the intersection of the main and auxiliary roads.
GPS接收器继续接收车辆当前位置信息，并不断进行车辆定位，判断当前车辆与前方或后方路口的距离是否达到或小于预设阈值（比如前方20米）。The GPS receiver continues to receive the current location information of the vehicle, and continuously locates the vehicle to determine whether the distance between the current vehicle and the front or rear intersection reaches or is less than a preset threshold (such as 20 meters ahead).
如图3所示，在自车距离前方主辅路路口达到或小于预设阈值时，开始启动倒车后视摄像头，进行道路拐弯识别：即获取自车行驶方向线和车道线，直到自车离开当前主辅路路口的距离大于预设阈值，根据获取的图像中提取的车道线和自车行驶方向形成的夹角来判断车辆是否拐弯，当确定车辆进行拐弯时，根据车辆当前所处的道路和拐弯方向确定自车是否进入主路或辅路。As shown in Figure 3, when the distance between the self-vehicle and the intersection of the main and auxiliary roads in front reaches or is less than the preset threshold, the rear-view camera is activated for road turning recognition: that is, the driving direction line and lane line of the self-vehicle are obtained until the self-vehicle leaves the current The distance of the intersection of main and auxiliary roads is greater than the preset threshold, and judge whether the vehicle is turning according to the angle formed by the lane line extracted from the acquired image and the driving direction of the vehicle. The direction determines whether the ego vehicle enters the main road or the side road.
通常情况下，车辆初次启动行驶时，主辅路匹配程序段开始进行主辅路识别，因为车辆在启动时，首先行驶在普通道路上，由于普通道路只能转向辅路，不能直接转入主路，所以当普通道路转弯时，根据道路的连接关系可以判断转入的道路为辅路，在辅路继续行驶，在主路的入口处，如果车辆左转，即进入主路，整个过程，主辅路匹配程序段可以精确识别进出主辅路，提供正确的匹配道路。Usually, when the vehicle starts to drive for the first time, the main and auxiliary road matching program segment starts to identify the main and auxiliary roads, because when the vehicle starts, it first drives on the ordinary road, because the ordinary road can only turn to the auxiliary road and cannot directly turn to the main road, so When an ordinary road turns, it can be judged according to the connection relationship of the road that the road to turn into is an auxiliary road. Continue driving on the auxiliary road. At the entrance of the main road, if the vehicle turns left, it enters the main road. During the whole process, the main and auxiliary road matching program segment It can accurately identify the main and auxiliary roads in and out, and provide correct matching roads.
如图4所示，当车辆进入主路后，GPS接收器仍然不断获取当前位置信息，主辅路匹配程序段继续运行，在自车距离前方主辅路路口达到或小于预设阈值时，开始启动倒车后视摄像头，进行道路拐弯识别，即获取自车行驶方向线和车道线，直到自车离开当前主辅路路口的距离大于预设阈值，根据获取的图像中提取的车道线和自车行驶方向形成的夹角来判断车辆是否拐弯，如果根据车辆拐弯识别功能识别出车辆正在右转弯，说明车辆正准备进入辅路。As shown in Figure 4, when the vehicle enters the main road, the GPS receiver continues to obtain the current location information, the main and auxiliary road matching program continues to run, and when the distance from the vehicle to the main and auxiliary road intersection in front reaches or is less than the preset threshold, the reverse is started The rear-view camera performs road turning recognition, that is, obtains the driving direction line and lane line of the self-vehicle until the distance from the current main and auxiliary road intersection is greater than the preset threshold, and is formed according to the lane line extracted from the acquired image and the driving direction of the own vehicle. The included angle of the vehicle is used to judge whether the vehicle is turning. If it is recognized that the vehicle is turning right according to the vehicle turning recognition function, it means that the vehicle is preparing to enter the auxiliary road.
优选地，所述识别主辅路的车载导航装置还包括GPRS通信单元，用来实时加载主辅路上的实时路况信息，通过所述GPRS通信单元，可以结合主辅路匹配程序段的识别结果，可以给用户正确的前方道路拥堵情况信息。Preferably, the car navigation device for identifying the main and auxiliary roads also includes a GPRS communication unit, which is used to load real-time road condition information on the main and auxiliary roads in real time. Through the GPRS communication unit, the recognition results of the main and auxiliary road matching program segments can be combined to give The user's correct road congestion situation information ahead.
通过以上车载导航装置，可以在初步定位车辆行驶的道路的基础上，较为精确的判断当前车辆所行驶的道路位置，克服了现有技术对车辆位置定位不准确的问题，有利于提高后续车载导航在道路定位，检索和道路引导时的精确度。Through the above vehicle navigation device, on the basis of the preliminary positioning of the road on which the vehicle is traveling, the position of the road on which the current vehicle is traveling can be judged more accurately, which overcomes the problem of inaccurate positioning of the vehicle position in the prior art, and is conducive to improving the follow-up vehicle navigation. Accuracy in road positioning, retrieval and road guidance.
为了实现前述发明目的，如图5所示，本发明实施例还提供了一种识别主辅路的车载导航方法，所述方法包括以下步骤：In order to achieve the purpose of the foregoing invention, as shown in FIG. 5 , an embodiment of the present invention also provides a vehicle navigation method for identifying main and auxiliary roads. The method includes the following steps:
CPU单元根据GPS接收器接收的GPS位置信号探测当前位置，并读取电子地图数据存储单元中与当前位置相对应的地图数据，并由地图显示单元显示于当前位置相对应的地图，根据GPS接收器接收到的当前位置信息进行地图匹配，匹配的候选道路存在主辅路；The CPU unit detects the current position according to the GPS position signal received by the GPS receiver, and reads the map data corresponding to the current position in the electronic map data storage unit, and displays the map corresponding to the current position by the map display unit. The current location information received by the sensor is used for map matching, and there are main and auxiliary roads for the matching candidate roads;
根据道路的连接关系进行判断，看匹配的道路前方是否存在主辅路出入口，当存在主辅路出入口时，从自车距离前方主辅路路口达到预设阈值（比如前方20米）时，利用车辆倒车后视摄像头进行车辆转弯识别，即开始车辆转弯识别功能，直到自车离开当前主辅路路口至预设阈值解除识别，即判断进出主辅路（例如自车已经离开出入口20米，结束车辆转弯识别功能）。Judgment is made according to the connection relationship of the road to see if there is a main and auxiliary road entrance and exit in front of the matching road. Use the camera to perform vehicle turning recognition, that is, start the vehicle turning recognition function until the self-vehicle leaves the current main and auxiliary road intersection to the preset threshold to release the recognition, that is, judge the entry and exit of the main and auxiliary road (for example, the self-vehicle has left the entrance and exit for 20 meters, and the vehicle turning recognition function ends) .
如图6所示，车辆转弯识别功能包括如下步骤：根据倒车后视摄像头获取到的倒车后视图像提取出道路车道线，并计算车道线和自车行驶方向形成的夹角，根据夹角的变化来判断车辆是否拐弯以及拐弯的方向，如自车和车道线的夹角平行，则自车直行；如自车和车道线的夹角相交，则自车转弯。As shown in Figure 6, the vehicle turning recognition function includes the following steps: extract the road lane line from the rear view image obtained by the rear view camera, and calculate the angle formed between the lane line and the driving direction of the vehicle, Change to determine whether the vehicle is turning and the direction of the turn. If the angle between the vehicle and the lane line is parallel, the vehicle will go straight; if the angle between the vehicle and the lane line intersects, the vehicle will turn.
如图7、8、9为示出了车辆后视摄像头拍摄的道路车道线，根据车辆车道线和车辆行驶方向的夹角的变化角度，可以识别出车辆直行、左转或者右转的示意图。Figures 7, 8, and 9 show the road lane lines captured by the rearview camera of the vehicle. According to the change angle between the vehicle lane line and the vehicle's driving direction, it is possible to recognize the schematic diagrams of the vehicle going straight, turning left or turning right.
当车辆拐弯时，又根据自车当前所在的道路，车辆转弯的方向，以及地图中道路的连接关系，确定自车是否进入主路或辅路；When the vehicle is turning, it is determined whether the vehicle enters the main road or the auxiliary road according to the current road of the vehicle, the direction of the vehicle turning, and the connection relationship of the roads in the map;
当自车进入主路或辅路时，语音模块根据语音数据存储的语音提示内容，通过语音输出端进行语音提示。When the self-vehicle enters the main road or the auxiliary road, the voice module performs voice prompts through the voice output terminal according to the voice prompt content stored in the voice data.
判断进出主辅路时，如果自车在主路上，识别出车辆向右转弯，说明进入辅路；如果自车在辅路上，识别出车辆向左转弯，说明进入主路。When judging the entry and exit of the main and auxiliary roads, if the vehicle is on the main road, it is recognized that the vehicle is turning right, indicating that it is entering the auxiliary road; if the vehicle is on the auxiliary road, it is recognized that the vehicle is turning to the left, indicating that it is entering the main road.
本发明实施例的目的是针对城市快速路的特点，而提出一种识别主辅路的车载导航装置及方法，根据自车当前的位置及倒车后视提取的图像，可判断自车是否进出主辅路，从而精确的识别出自车在主路还是辅路上，解决了导航中“我在哪里”的问题，对语音提示、路径计算及动态交通信息的提示的正确性提供了保障，提高了车辆驾驶的安全性。The purpose of the embodiments of the present invention is to propose a car navigation device and method for identifying main and auxiliary roads based on the characteristics of urban expressways. According to the current position of the vehicle and the image extracted from the rear view of the vehicle, it can be judged whether the vehicle enters or exits the main and auxiliary roads. , so as to accurately identify whether the vehicle is on the main road or the auxiliary road, solve the problem of "where am I" in navigation, provide a guarantee for the correctness of voice prompts, route calculations, and dynamic traffic information prompts, and improve driving safety. safety.
本发明所属领域的一般技术人员可以理解，本发明以上实施例仅为本发明的优选实施例之一，为篇幅限制，这里不能逐一列举所有实施方式，任何可以体现本发明权利要求技术方案的实施，都在本发明的保护范围内。 Those of ordinary skill in the field of the present invention can understand that the above embodiment of the present invention is only one of the preferred embodiments of the present invention, and is limited by space. All implementation modes cannot be listed here one by one, and any implementation that can embody the technical solution of the claims of the present invention , are all within the protection scope of the present invention. the
需要注意的是，以上内容是结合具体的实施方式对本发明所作的进一步详细说明，不能认定本发明的具体实施方式仅限于此，在本发明的上述指导下，本领域技术人员可以在上述实施例的基础上进行各种改进和变形，而这些改进或者变形落在本发明的保护范围内。It should be noted that the above content is a further detailed description of the present invention in conjunction with specific embodiments, and it cannot be determined that the specific embodiments of the present invention are limited thereto. Under the guidance of the present invention, those skilled in the art can Various improvements and modifications are made on the basis of the invention, and these improvements or modifications fall within the protection scope of the present invention.
| Application Number | Priority Date | Filing Date | Title |
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| CN201410664510.9ACN104316069A (en) | 2012-06-26 | 2012-06-26 | A vehicle navigation device and a navigation method for identifying main and auxiliary roads |
| Application Number | Priority Date | Filing Date | Title |
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| CN201410664510.9ACN104316069A (en) | 2012-06-26 | 2012-06-26 | A vehicle navigation device and a navigation method for identifying main and auxiliary roads |
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| CN201410664510.9APendingCN104316069A (en) | 2012-06-26 | 2012-06-26 | A vehicle navigation device and a navigation method for identifying main and auxiliary roads |
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