CN-121977603-A - Navigation control method and device based on tunnel scene, vehicle, medium and product

CN121977603ACN 121977603 ACN121977603 ACN 121977603ACN-121977603-A

Abstract

The embodiment of the application provides a navigation control method, a navigation control device, a navigation control vehicle, a navigation control medium and a navigation control product based on a tunnel scene. The method comprises the steps of obtaining attribute information of a target tunnel, classifying the target tunnel according to the attribute information to obtain a classification result, controlling lane-level navigation to execute corresponding navigation strategies according to different relative positions between a vehicle and a gateway of the target tunnel when the classification result represents that the target tunnel is a first classification type requiring to execute a degradation strategy, wherein the navigation strategies comprise a first navigation strategy, a second navigation strategy, a first transition strategy and a second transition strategy, the first transition strategy represents a transition strategy before the second navigation strategy is switched into the first navigation strategy, and the second transition strategy represents a transition strategy before the first navigation strategy is switched into the second navigation strategy. The method is used for achieving the effect of improving navigation accuracy.

Inventors

YUAN YE
ZHANG GAOXIONG

Assignees

北京四维图新科技股份有限公司

Dates

Publication Date: 20260505
Application Date: 20260319

Claims (10)

1. The navigation control method based on the tunnel scene is characterized by comprising the following steps: Acquiring attribute information of a target tunnel; classifying the target tunnels according to the attribute information to obtain classification results; When the classification result indicates that the target tunnel is of a first classification type requiring the performance of a degradation strategy, controlling lane-level navigation to perform a corresponding navigation strategy according to different relative positions between a vehicle and a gateway of the target tunnel, wherein the navigation strategy comprises a first navigation strategy, a second navigation strategy, a first transition strategy and a second transition strategy, the first transition strategy indicates the transition strategy before the second navigation strategy is switched into the first navigation strategy, and the second transition strategy indicates the transition strategy before the first navigation strategy is switched into the second navigation strategy.
2. The method according to claim 1, wherein the acquiring attribute information of the target tunnel includes: determining whether a target tunnel exists in a preset range according to the driving route in the lane-level navigation; and if the target tunnel exists, reading attribute information of the target tunnel according to the map information.
3. The method of claim 1, wherein classifying the target tunnel according to the attribute information to obtain a classification result comprises: And classifying the target tunnel according to the tunnel length and the entrance information of the target tunnel represented in the attribute information to obtain a classification result of the type of the represented tunnel, wherein the classification result comprises a first classification type of the represented target tunnel needing to execute the degradation strategy and a second classification type of the represented target tunnel needing not to execute the degradation strategy.
4. The method of claim 3, wherein classifying the target tunnel according to the tunnel length and the entrance information characterizing the target tunnel in the attribute information to obtain the classification result characterizing the tunnel type includes: If the entrance and exit information of the target tunnel represents that the target tunnel has a plurality of exits, determining that the target tunnel is a multi-exit tunnel representing the first classification type; If the tunnel length of the target tunnel is greater than a tunnel length threshold, determining that the target tunnel is a long tunnel representing the first classification type, wherein the tunnel length threshold is determined according to at least one parameter of vehicle speed, navigation precision and tunnel width; if the target tunnel at least comprises two sub-tunnels and the entrance-exit distance between the sub-tunnels is smaller than an entrance-exit distance threshold, determining that the target tunnel is a continuous tunnel representing the first classification type, wherein the entrance-exit distance threshold is determined according to at least one parameter of vehicle speed, navigation precision and tunnel width; and if the tunnel length of the target tunnel is smaller than or equal to the tunnel length threshold value, determining that the target tunnel is a short tunnel representing the second classification type.
5. The method of claim 1, wherein controlling lane-level navigation to implement a corresponding navigation strategy based on different relative positions between the vehicle and the target tunnel entrance and exit, comprises: if the distance between the lane-level navigation and the entrance of the target tunnel is greater than or equal to a first preset distance, controlling the lane-level navigation to execute the first navigation strategy; When the vehicle enters towards the entrance of the target tunnel, if the distance between the vehicle and the entrance of the target tunnel is smaller than a first preset distance and larger than or equal to a second preset distance, controlling the lane-level navigation to execute the second transition strategy; and if the distance between the first navigation strategy and the entrance of the target tunnel is smaller than a second preset distance, controlling the lane-level navigation to be switched from the first navigation strategy to the second navigation strategy, wherein the second navigation strategy is characterized as a guide degradation strategy of the first navigation strategy.
6. The method of claim 5, wherein after controlling the lane-level navigation to switch from the first navigation strategy to the second navigation strategy, the method further comprises: when the vehicle exits towards the exit of the target tunnel, if the vehicle is positioned in the target tunnel and the distance between the vehicle and the exit is smaller than a third preset distance, controlling the lane-level navigation to execute the first transition strategy; And if the vehicle has driven out of the target tunnel and the distance between the vehicle and the exit is larger than a fourth preset distance, controlling the lane-level navigation to be switched from the second navigation strategy to the first navigation strategy.
7. The method of claim 1, wherein when the classification result characterizes the target tunnel as a continuous tunnel in the first classification type, And controlling lane-level navigation to execute a corresponding navigation strategy according to different relative positions between a vehicle and the entrance and the exit of the target tunnel, wherein the method comprises the following steps: Controlling the lane-level navigation to execute the second navigation strategy when the vehicle travels from one interior exit to another interior entrance in the continuous tunnel; When the vehicle runs towards a target exit of the continuous tunnel and the distance between the vehicle and the target exit is smaller than a fifth preset distance, controlling the lane-level navigation to execute the first transition strategy; And when the vehicle exits from the target exit of the continuous tunnel and the distance between the vehicle and the target exit is larger than a sixth preset distance, controlling the lane-level navigation to be switched from the second navigation strategy to the first navigation strategy.
8. The method of claim 1, wherein when the classification result characterizes a second classification type of the target tunnel without performing a downgrade policy, After classifying the target tunnel according to the attribute information to obtain a classification result, the method further comprises: And controlling the lane-level navigation to keep a first navigation strategy for navigation according to the classification result.
9. A navigation control device based on a tunnel scene, comprising: the acquisition module is used for acquiring attribute information of the target tunnel; the obtaining module is used for classifying the target tunnel according to the attribute information to obtain a classification result; The system comprises an adjustment module, a lane-level navigation execution module and a target tunnel, wherein the adjustment module is used for controlling lane-level navigation to execute corresponding navigation strategies according to different relative positions between a vehicle and a gateway of the target tunnel when the classification result represents that the target tunnel is a first classification type requiring to execute a degradation strategy, the navigation strategies comprise a first navigation strategy, a second navigation strategy, a first transition strategy and a second transition strategy, the first transition strategy represents a transition strategy before the second navigation strategy is switched into the first navigation strategy, and the second transition strategy represents a transition strategy before the first navigation strategy is switched into the second navigation strategy.
10. A vehicle/computer-readable storage medium/computer program product comprising, The vehicle includes a memory, a processor; the memory stores computer-executable instructions; The processor executing computer-executable instructions stored in the memory, causing the processor to perform the method of any one of claims 1-8; The computer-readable storage medium having stored therein computer-executable instructions which, when executed by a processor, are adapted to carry out the method of any one of claims 1-8; the computer program product comprising a computer program which, when executed by a processor, implements the method of any of claims 1-8.

Description

Navigation control method and device based on tunnel scene, vehicle, medium and product Technical Field The application relates to the technical field of vehicle navigation, in particular to a navigation control method and device based on tunnel scenes, a vehicle, a medium and a product. Background In an intelligent driving and high-precision navigation system, tunnel scenes become key challenge areas for positioning and guiding due to the characteristics of complete shielding of GNSS signals, single environmental characteristics, complex exit structures and the like. In order to ensure driving safety, a navigation system usually adopts a degradation strategy, actively reduces the guiding granularity after entering a tunnel, and returns to a road level or a brief prompt from the lane level, thereby belonging to the design category of a safety mechanism integrating high-precision positioning and man-machine interaction. The current existing method turns off the lane-level guidance function immediately after detecting that the vehicle enters the tunnel, switches to a low-precision conservative guidance mode, and maintains the guidance mode throughout the tunnel passage until a stable satellite signal is reacquired. However, because the conditions of different tunnels are different, a unified strategy mode is adopted for all tunnels, so that the problem of poor navigation effect can occur during navigation. Disclosure of Invention The navigation control method, the device, the vehicle, the medium and the product based on the tunnel scene provided by the embodiment of the application are used for achieving the effect of improving the navigation accuracy. In a first aspect, an embodiment of the present application provides a navigation control method based on a tunnel scene, including: Acquiring attribute information of a target tunnel; classifying the target tunnels according to the attribute information to obtain classification results; When the classification result indicates that the target tunnel is of a first classification type requiring the performance of a degradation strategy, controlling lane-level navigation to perform corresponding navigation strategies according to different relative positions between the vehicle and the entrance and exit of the target tunnel, wherein the navigation strategies comprise a first navigation strategy, a second navigation strategy, a first transition strategy and a second transition strategy, the first transition strategy indicates the transition strategy before the second navigation strategy is switched into the first navigation strategy, and the second transition strategy indicates the transition strategy before the first navigation strategy is switched into the second navigation strategy. In one possible implementation manner, obtaining attribute information of the target tunnel includes: Determining whether a target tunnel exists in a preset range according to a driving route in lane-level navigation; and if the target tunnel exists, reading attribute information of the target tunnel according to the map information. In one possible implementation manner, classifying the target tunnel according to the attribute information to obtain a classification result includes: And classifying the target tunnel according to the tunnel length and the entrance information which are indicated in the attribute information to obtain a classification result which indicates the tunnel type, wherein the classification result comprises a first classification type which indicates that the target tunnel needs to execute the degradation strategy and a second classification type which indicates that the target tunnel does not need to execute the degradation strategy. In one possible implementation manner, classifying the target tunnel according to the tunnel length and the entrance information of the target tunnel represented by the attribute information to obtain a classification result of the tunnel type, including: If the entrance and exit information of the target tunnel represents that the target tunnel has a plurality of exits, determining that the target tunnel is a multi-exit tunnel representing a first classification type; If the tunnel length of the target tunnel is greater than the tunnel length threshold, determining that the target tunnel is a long tunnel representing the first classification type; If the target tunnel at least comprises two sub-tunnels and the entrance-exit distance between the sub-tunnels is smaller than an entrance-exit distance threshold, determining that the target tunnel is a continuous tunnel representing a first classification type; And if the tunnel length of the target tunnel is smaller than or equal to the tunnel length threshold value, determining that the target tunnel is a short tunnel representing the second classification type. In one possible embodiment, controlling lane-level navigation to execute a corresponding navigation strategy according